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I'm using AR.Drone with Flight Recorder (witch enable geolocation using the GPS module).

I installed ardrone_autonomy and very pleased with it. But there is no GPS data in topics published.

However, using QGroundControl, I can connect to AR.Drone and get GPS data in GLOBAL_POSITION_INT packet, so I can get GPS data in my program with MAVLINK.

The problem is that I can't use ardrone_autonomy and MAVLINK connection simultaniously. When I start ardrone_autonomy, I loose connection in QGroundControl (MAVLINK).

So my question is about possibility of reading GPS data from AR.Drone with ardrone_autonomy or using ardrone_autonomy simultaniously with MAVLINK connection?


Originally posted by Rr on ROS Answers with karma: 15 on 2014-02-10

Post score: 0

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2 Answers 2

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As both @jjwiseman and @jcerruti mentioned, there is experimental support for GPS through "Parrot Flight Recorder" peripheral in ardrone_autonomy driver. It publishes data received from GPS and exposes a service to do GPS based waypoint navigation on-board. GPS Support section of gps-waypoint branch documentation provides more information.

Update: GPS support was added to the driver by patching the official SDK. Therefor, it's possible to trigger on-board GPS based waypoint navigation with the driver while simultaneously access video footage over Wifi.


Originally posted by Mani with karma: 1704 on 2015-05-15

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Some quick research suggests that this isn't possible with the existing drivers:

  • ardrone_autonomy is built on the ardrone SDK, which doesn't appear to support the new GPS module. Probably a dead end.
  • roscopter and mavlink_ros are based on the mavlink libraries and communication protocol which supports the GPS, but only appear to support communication over a serial port. You could probably extend this to support IP communication to support the AR.Drone.

Originally posted by ahendrix with karma: 47576 on 2014-02-12

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Original comments

Comment by jjwiseman on 2014-05-06:
It looks like support for GPS is being added to ardrone_autonomy. See https://github.com/AutonomyLab/ardrone_autonomy/pull/95 and https://github.com/AutonomyLab/ardrone_autonomy/tree/gps

Comment by Mani on 2015-05-23:
Please check my answer about GPS support with the official SDK.

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