Question

所以我试图用一个使用CC3000 WiFi盾牌的arduino来控制Parrot AR无人机，因为它是与无人机通信的手段。

我设法连接到无人机的WiFi接入点，通过DHCP等实际连接到控制和通信端口5556,5554。

无人机使用UDP进行通信，我使用Adafruit库为CC3000屏蔽与这些端口建立UDP连接。

然而，我似乎无法让无人机与我交谈或甚至向无人机发送命令：'（

无人机接受某种格式的文本字符串来控制各种功能，如起飞，降落等等。我试图通过UDP发送这些字符串，但无济于事。

这是我在Arduino中的代码：

#include <Adafruit_CC3000.h>
#include <ccspi.h>
#include <SPI.h>
#include <String.h>
#include "utility/debug.h"

#define ADAFRUIT_CC3000_IRQ    3
#define ADAFRUIT_CC3000_VBAT   5
#define ADAFRUIT_CC3000_CS     10
#define WLAN_SSID              "ardrone_000000"  
#define WLAN_PASS              ""  
#define WLAN_SECURITY          WLAN_SEC_UNSEC 
#define ARDRONE_NAVDATA_PORT                5554
#define ARDRONE_VIDEO_PORT                  5555
#define ARDRONE_AT_PORT                     5556
#define ARDRONE_CONFIGDATA_PORT             5559
#define ARDRONE_MAX_AT_COMMAND_LENGTH        300
#define ARDRONE_AT_CMD_INTERVAL               30

Adafruit_CC3000 cc3000 = Adafruit_CC3000(ADAFRUIT_CC3000_CS, ADAFRUIT_CC3000_IRQ,ADAFRUIT_CC3000_VBAT, SPI_CLOCK_DIVIDER);
uint32_t ipAddress, netmask, gateway, dhcpserv, dnsserv;
/*
int longtime = 0;
const unsigned long connectTimeout = 4L * 100L, // Max time to wait for the serverconnection
responseTimeout = 4L * 100L; //Max time to wait for answer from server*/
char cmd[ARDRONE_MAX_AT_COMMAND_LENGTH];
int sequence = 0;
int run_count = 0;
char inBuffer[255];
char outBuffer[] = "acknowledged";

void setup() {
Serial.begin(115200);

Serial.println(F("\nInitialising the CC3000..."));
  if (!cc3000.begin()) {
    Serial.println(F("Unable to initialise the CC3000! Check your wiring?"));
    while(1);
  }

Serial.println(F("\nDeleting old connection profiles"));
  if (!cc3000.deleteProfiles()) {
    Serial.println(F("Failed!"));
    while(1);
  }

char *ssid = WLAN_SSID;
Serial.print(F("\nAttempting to connect to ")); 
Serial.print(ssid);

if (!cc3000.connectToAP(WLAN_SSID, WLAN_PASS, WLAN_SECURITY)) {
  Serial.println(F("Failed!"));
  while(1);
}

Serial.println(F("\nConnected!"));
Serial.println(F("\nRequest DHCP"));
while (!cc3000.checkDHCP()) {
delay(1000);
}
connect_drone();
}

void loop() {
 talkToDrone();
}

void connect_drone() {
 cc3000.getIPAddress(&ipAddress, &netmask, &gateway, &dhcpserv, &dnsserv);
 Adafruit_CC3000_Client drone_config = cc3000.connectTCP(ipAddress,   ARDRONE_CONFIGDATA_PORT);
Adafruit_CC3000_Client drone_control = cc3000.connectUDP(ipAddress, ARDRONE_AT_PORT);
Adafruit_CC3000_Client drone_comms = cc3000.connectUDP(ipAddress,   ARDRONE_NAVDATA_PORT);
  if (drone_comms.connected()) {
    Serial.println(F("Drone talking"));
  } else {
  Serial.println(F("Drone not talking"));
 }
  if (drone_control.available()) {
  Serial.println(F("Drone ready for Commands"));
  } else {
  Serial.print(F("Drone having none of it..."));
  }
 if (drone_config.connected()) {
 Serial.println(F("Drone Configged"));
 } else { 
 Serial.println(F("Drone not Configged"));
   }
 }  

/*
 Serial.println(F("Closing Comms"));
 drone_comms.close();
 Serial.println(F("-----------------------------------------------------------"));*/


void nav_data_init() {
Adafruit_CC3000_Client drone_comms = cc3000.connectUDP(ipAddress, ARDRONE_NAVDATA_PORT);
if (drone_comms.connected()) {
  //drone_comms.print("AT*CONFIG=general:navdata_demo,TRUE\r");
  //drone_comms.print("AT*CTRL=0\r");
}

 if (drone_comms.connected()) {
 if (drone_comms.available()) {
   Serial.println(F("Receiving Telemetry Data"));
    char c = drone_comms.read();
   Serial.print(c);
   }
 }
}

void takeOff() {
  snprintf(cmd , strlen(cmd), "AT*REF=%d,290718208\r", sequence++);//add \r
 }

void land() {
  snprintf(cmd , strlen(cmd), "AT*REF=%d,290717696\r", sequence++);
 }

void hover() {
  snprintf(cmd , strlen(cmd), "AT*PCMD=%d,1,0,0,0,0\r", sequence++);
 }

void calib() {
  snprintf(cmd, strlen(cmd), "AT*FTRIM=%d\r", sequence++);
 }

void watchdog() {
  snprintf(cmd, strlen(cmd), "AT*COMWDG\r", sequence++);
 }

void periodicTask() {
  unsigned long current_t = millis();
  static unsigned long next_t = 0;
  if (current_t > next_t) {
    talkToDrone();
    next_t = current_t + ARDRONE_AT_CMD_INTERVAL;
    }
   }

 void talkToDrone() {
 Adafruit_CC3000_Client drone_control = cc3000.connectUDP(ipAddress, ARDRONE_AT_PORT);
 Adafruit_CC3000_Client drone_comms = cc3000.connectUDP(ipAddress, ARDRONE_NAVDATA_PORT);
 if (drone_comms.available()) {
  drone_comms.write(outBuffer, strlen(outBuffer));
  int len = drone_comms.read(inBuffer,255);
  if (len > 0) inBuffer[len] = 0;

  Serial.print("Received packet");
  Serial.println("Contents");
  Serial.println(inBuffer);

  drone_comms.write(outBuffer, strlen(outBuffer));
 }

 if (drone_control.connected() && run_count == 0) {
  Serial.print(F("Sending Takeoff Sequence."));
   calib();
   takeOff();
   watchdog();
   drone_control.print(cmd);
   cmd[0] = 0;
   Serial.print(F("."));
  Serial.println(F(".Done!"));
   run_count++;
   sequence = 0;
  } else if (drone_control.connected() && run_count > 0) {
   Serial.print(F("Sending Hover Sequence."));
   hover();
   watchdog();
   drone_control.print(cmd);
   cmd[0] = 0;
   Serial.print(F("."));
   Serial.println(F(".Done!"));
    run_count++;
    sequence = 0;
  }
 }

Parrot Ar Drone与Arduino的CC3000 WiFi屏蔽连接

0 个答案: