AIR WOLF: Leveraging ActionScript to Control a Quadcopter

I gave this technical presentation about reverse engineering a AR Drone to be controlled via ActionScript at 360Flex in 2011 to a room of about 40 attendees.

Conference: http://www.360flex.com/

Transcript

1. Scott Janousek - 2011 AIR WOLF Leveraging ActionScript to Control a Quadcopter EPISODE 2 “A Tale of Reverse and Forward Engineering”
2. Scott Janousek - 2011 DISCOVERY EXPLORATION TINKERING EXPERIMENTATION
3. Scott Janousek - 2011 Agenda INTRO DEMO(s) PROJECT AIR WOLF OUTRO
4. Scott Janousek - 2011 INTRO
5. Scott Janousek - 2011 ME
6. Scott Janousek - 2011 Scott janousek Founder, Hooken Mobile Long Time (Flash) Mobile Advocate Working on all kinds of devices & platforms “Gadget Geek” AR.Drone enthusiast
7. Scott Janousek - 2011 contact www.scottjanousek.com @scottjanousek www.hookenmobile.com @hookenmobile
8. Scott Janousek - 2011 AIR WOLF Project genesis
9. Scott Janousek - 2011 Growing up, I was a big fan of ...
10. Scott Janousek - 2011
11. Scott Janousek - 2011 For those not familiar ....
12. Scott Janousek - 2011 Season 4 intro
13. Scott Janousek - 2011 Always wanted to y ...
14. Scott Janousek - 2011
15. Scott Janousek - 2011 Options
16. Scott Janousek - 2011 The real deal
17. Scott Janousek - 2011 $$$ ... not to mention The whole “eyesight thing”
18. Scott Janousek - 2011 hard core rc
19. Scott Janousek - 2011 Cool, but I never got into RC.
20. Scott Janousek - 2011 mini rc TOY
21. Scott Janousek - 2011 Too cheap and “plastic-y”
22. Scott Janousek - 2011 How about making something custom?
23. Scott Janousek - 2011 DIY DRONES http://www.diydrones.com
24. Scott Janousek - 2011 http://blog.makezine.com/archive/2010/05/arduimu_quadcopter_drone.html DIY
25. Scott Janousek - 2011 “Hey Scott, did you hear about ...”
26. Scott Janousek - 2011 ar drone
27. Scott Janousek - 2011 AR.DRONE
28. Scott Janousek - 2011 Electric Powered “QUAD COPTER” (or quadro-copter)
29. Scott Janousek - 2011
30. Scott Janousek - 2011 AD
31. Scott Janousek - 2011 “ok, ok, the commercial is kind of silly ... but, let’s have a go at it ...”
32. Scott Janousek - 2011 AR.drone DEMOS
33. Scott Janousek - 2011 AR.DRONE freeflight (native ios app)
34. Scott Janousek - 2011 native remote demo
35. Scott Janousek - 2011 experiment
36. Scott Janousek - 2011 bci experiment
37. Scott Janousek - 2011 tracking experiment
38. Scott Janousek - 2011 There are more serious Drones out there besides AR.Drone ...
39. Scott Janousek - 2011 OTHER COOL DRONE hardware
40. Scott Janousek - 2011 hummingbird e.g. http://www.avinc.com/
41. Scott Janousek - 2011Humming Bird Drone - Goverment R&D
42. Scott Janousek - 2011 civilian uses
43. Scott Janousek - 2011 RECENT uav USAGE CNN: “Flying Drone peers into Japan’s damaged reactors”
44. Scott Janousek - 2011 echo quadrocopter R&D
45. Scott Janousek - 2011 ping pong
46. Scott Janousek - 2011 playing piano
47. Scott Janousek - 2011 AIR WOLF project discussion
48. Scott Janousek - 2011 AR.DRONE hardware
49. Scott Janousek - 2011 BTW: It costs about $300 USD
50. Scott Janousek - 2011 specs
51. Scott Janousek - 2011 more specs
52. Scott Janousek - 2011 “GUTS”
53. Scott Janousek - 2011 4 “props”
54. Scott Janousek - 2011 underside Acoustic Sensors Indicator Light Belly Camera Unpair Reset
55. Scott Janousek - 2011 Cameras Belly Cam Front Camera
56. Scott Janousek - 2011 TROUBLE- SHOOTing
57. Scott Janousek - 2011 basic flight
58. Scott Janousek - 2011 pitch, yaw, roll
59. Scott Janousek - 2011 native remote control apps
60. Scott Janousek - 2011 native h.u.d.
61. Scott Janousek - 2011 Native mobile Apps iOS Android
62. Scott Janousek - 2011 iphone - freeflight
63. Scott Janousek - 2011 android
64. Scott Janousek - 2011 desktop - LINUX & windows
65. Scott Janousek - 2011 “Yes, I know native is better in this case, but ... I wonder if I could connect to AR.Drone via ACTIONSCRIPT ...”
66. Scott Janousek - 2011 SOFTWARE ar drone sdk vs. urbi
67. Scott Janousek - 2011 “old school”
68. Scott Janousek - 2011 AR DRONE SDK
69. Scott Janousek - 2011 ardrone SDk Windows, Linux, Android, iOS support
70. Scott Janousek - 2011 discovery
71. Scott Janousek - 2011 Architecture
72. Scott Janousek - 2011 control Flow
73. Scott Janousek - 2011 Areas NavData (Video) Stream Cmds
74. Scott Janousek - 2011 PLANNING
75. Scott Janousek - 2011 Cross Platform App Desktop Windows, Mac, Linux Mobile AIR for Android
76. Scott Janousek - 2011 Reverse Engineering 1. Download AR Drone SDK 2. Browse Wiki & Forums 3. Look at C Source Code provided 4. Figure out the open Protocol
77. Scott Janousek - 2011 sdk 1.5 docs
78. Scott Janousek - 2011 forums
79. Scott Janousek - 2011 APPARATUS
80. Scott Janousek - 2011 setup Wi- Ad-hoc Wi- 10.0.0.x physical network 10.0.0.x port 8080 10.0.0.1 port 8080 10.0.0.x port 8080 192.168.1.1 port 5556 192.168.1.2 port 5556 “bandaid” reset button MacBook Pro AR Drone DROIDX (Android) Airport Extreme
81. Scott Janousek - 2011 network config
82. Scott Janousek - 2011 internet sharing
83. Scott Janousek - 2011 airport config
84. Scott Janousek - 2011 ethernet
85. Scott Janousek - 2011 DEVELOPMENT
86. Scott Janousek - 2011 original PoC
87. Scott Janousek - 2011 at commands
88. Scott Janousek - 2011 basic commands altitude max2m AT*CONFIG=1,\"control:altitude_max\",\"2000\" Landing AT*REF=101,290718208 Takeoff AT*REF=102,290717696 Hovering AT*PCMD=201,1,0,0,0,0 gaz 0.1 AT*PCMD=301,1,0,0,1036831949,0 gaz -0.1 AT*PCMD=302,1,0,0,-1110651699,0 pitch 0.1 AT*PCMD=303,1,1036831949,0,0,0 pitch -0.1 AT*PCMD=304,1,-1110651699,0,0,0 yaw 0.1 AT*PCMD=305,1,0,0,0,1036831949 yaw -0.1 AT*PCMD=306,1,0,0,0,-1110651699 roll 0.1 AT*PCMD=307,1,0,1036831949,0,0 roll -0.1 AT*PCMD=308,1,0,-1110651699,0,0 pitch -30 deg AT*ANIM=401,0,1000 pitch 30 deg AT*ANIM=402,1,1000
89. Scott Janousek - 2011 AT syntax AT*REF=<sequence>,<UI> AT*PCMD=<sequence>,<enable>,<pitch>,<roll>,<gaz>,<yaw> ( oat)0.05 = (int)1028443341 ( oat)-0.05 = (int)-1119040307 ( oat)0.1 = (int)1036831949 ( oat)-0.1 = (int)-1110651699 ( oat)0.2 = (int)1045220557 ( oat)-0.2 = (int)-1102263091 ( oat)0.5 = (int)1056964608 ( oat)-0.5 = (int)-1090519040 AT*ANIM=<sequence>,<animation>,<duration> AT*CONFIG=<sequence>,\"<name>\",\"<value>\"
90. Scott Janousek - 2011 at bits UI_BIT: 00010001010101000000000000000000 | | | | | || | ||||+--0: Button turn to left | | | | | || | |||+---1: Button altitude down (ah - ab) | | | | | || | ||+----2: Button turn to right | | | | | || | |+-----3: Button altitude up (ah - ab) | | | | | || | +------4: Button - z-axis (r1 - l1) | | | | | || +--------6: Button + z-axis (r1 - l1) | | | | | |+----------8: Button emergency reset all | | | | | +-----------9: Button Takeoff / Landing | | | | +-------------------18: y-axis trim +1 (Trim increase at +/- 1??/s) | | | +---------------------20: x-axis trim +1 (Trim increase at +/- 1??/s) | | +-----------------------22: z-axis trim +1 (Trim increase at +/- 1??/s) | +-------------------------24: x-axis +1 +-----------------------------28: y-axis +1
91. Scott Janousek - 2011 Proof of Concept
92. Scott Janousek - 2011 desktop app
93. Scott Janousek - 2011 “first flight”
94. Scott Janousek - 2011 ardroneserver
95. Scott Janousek - 2011 walkthrough
96. Scott Janousek - 2011 android app
97. Scott Janousek - 2011 android
98. Scott Janousek - 2011 ardroneclient
99. Scott Janousek - 2011 adobe max 2010 Video courtesy of @polygeek (Dan Florio)
100. Scott Janousek - 2011 post-mortem
101. Scott Janousek - 2011 Battery Life Lack of protocol documentation Indoor testing limits R&D Network cong was time confusing No Binary Sockets in AIR for Android !!!! Network Latency Buggy Firmware (pre 1.5) tech challenges
102. Scott Janousek - 2011 “new school”
103. Scott Janousek - 2011 URBI Universal Robot Body Interface
104. Scott Janousek - 2011 URBI FORGE
105. Scott Janousek - 2011 PSYKOKWAK
106. Scott Janousek - 2011 Urbi is an open source driver for multiple robotic systems. A driver has been developed that allows Urbi to interface with the AR Drone. So now you can control your drone with a laptop, joystick, keyboard, wii remote, etc. Urbi even allows you to write scripts to have the bot perform actions.
107. Scott Janousek - 2011 urbi server launch
108. Scott Janousek - 2011 urbi client connection
109. Scott Janousek - 2011 urbi launch script example
110. Scott Janousek - 2011 connecting to urbi
111. Scott Janousek - 2011 urbi script
112. Scott Janousek - 2011 ar.drone urbi commands
113. Scott Janousek - 2011 walkthrough
114. Scott Janousek - 2011 demos
115. Scott Janousek - 2011 motion tracking control test
116. Scott Janousek - 2011 experiment
117. Scott Janousek - 2011 brain computer interface (b.c.i)
118. Scott Janousek - 2011 BCI hardware
119. Scott Janousek - 2011 visualizer
120. Scott Janousek - 2011 experiment
121. Scott Janousek - 2011 AS3 API for Neurosky Mindset BCI actionscript api
122. Scott Janousek - 2011 gostai studio & gostai lab
123. Scott Janousek - 2011 Gostai Studio and Labs are IDEs that allow developers to interface with robotics, etc. It can be used with URBI. ULA files are markup files similar to MXML. Drag and Drop components are available.
124. Scott Janousek - 2011 gostai labs ide
125. Scott Janousek - 2011 gostai ula
126. Scott Janousek - 2011 outro
127. Scott Janousek - 2011 take aways AR Drone is an fun toy AIR, Flex = Prototyping made easy URBI & Gostai = great for hobby robotics Experiment, tinker, & have fun Air Wolf Movie? ... I hope so ... :)
128. Scott Janousek - 2011 links ardrone.parrot.com @ardrone, facebook.com/Parrot.Official youtube.com/user/ARdrone diydrones.com www.ardrone- yers.com www.x-plane.com www. sherinnovation.com/?p= -auav
129. Scott Janousek - 2011 Thank you
130. Scott Janousek - 2011 @scottjanousek http://www.scottjanousek.com