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AR Drone Simulink Development-Kit V1

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01 Oct 2013 (Updated )

Blockset for the simulation and Wi-Fi control of the Parrot ARDrone 2.0. Simulate, connect, and fly!

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Description

The development kit consists of blocks and examples for the simulation and real-time Wi-Fi control of the Parrot AR Drone 2.0. 

The simulation blocks are based on models of the vehicle derived via system identification. The Wi-Fi control blocks are capable of sending commands to the drone and reading the states of the drone in real-time.

The examples provide a framework for the control and guidance of the vehicle. These examples enable velocity and position control, waypoint tracking, and mission execution for the AR.Drone in both simulation and Wi-Fi control.

This development kit was produced in the context of the 2013 MathWorks Summer Research Internship project. For more information about the overall project to develop an automated autonomous emergency response system see:

http://www.youtube.com/watch?v=MxrySx1m8VQ

Required Products Aerospace Blockset
Real-Time Windows Target
Simulink
MATLAB
MATLAB release MATLAB 8.2 (R2013b)
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Comments and Ratings (15)
01 May 2014 David Escobar Sanabria

That packet output block requests data from the drone. Another packet output block is used to send commands every sampling time.

20 Apr 2014 javier vallejos

why ? the sammplingtime*10 in the Packet Output

13 Apr 2014 Ryan

Can someone with a more recent version of Simulink please post the files saved in MDL format. Thank you in advance!

http://www.mathworks.com/help/simulink/ug/saving-a-model.html#btbr7kx-1

13 Apr 2014 Ryan

Would it be possible to save a copy of the Simulink files in mdl format rather than slx? I need this to run on r2011b.

14 Mar 2014 Jeremy Wurbs

Thanks you guys for this toolkit, very well done.

I was wondering how you guys were able to get the video stream directly into Matlab. Currently I'm using ffmpeg to decode the stream but there is a ~3-5 second latency that is making controlling the drone difficult. Have you guys (or has anyone) been able to get the AR Drone video stream into Matlab with low latency? Any help is greatly appreciated!

05 Feb 2014 rean mark sayat

help please,i started to hover my drone ( i hit run button ) my problem is, it wont stop and dont want to land. It remain flying on the air. The stop button/icon was unable to be press(its blurred)

28 Jan 2014 Michael

Will this submission work with Matlab R2013a student version if i have all the toolboxes and blocksets required?

14 Jan 2014 Jordan

For some reason when I follow all of the steps to run the wifi control. The wifiControl/ARDroneWPTracking.xls file loads and then I connect and then run. But the compiler gets stuck at T =0 and then a warning message stating "a disconnect message was sent to the target 10..20...60 seconds ago and then it disconnects. and the model is unloaded. Any help on getting the program to run reliably/continuously. I've gotten it to run only 2 times.

26 Dec 2013 David Escobar Sanabria

Hi Jose,

Check the following link:

http://www.mathworks.com/matlabcentral/fileexchange/44177-kinect-controlled-travel-in-google-earth-3d

I think you could use information from the kinect to control the drone. You should check if the blocks that talk with the kinect can be executed in external mode together with Real-Time-Windows-Target (RTWT). If this is possible, you can combine the Simulink blocks for the vehicle control and blocks that receive information from the Kinect.

If you are unable to do that, I would suggest you to open a MATLAB/Simulink session that reads the Kinect information and use UDP blocks to exchange data between the Simulink model that reads the kinect data and the Simulink/RTWT model that controls the drone.

Chao

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David

21 Dec 2013 jose

Hi. I was wondering if, for example i could use a Kinect for control this quadrotor using this same program. It's possible??? I excuse for my English, I'm from Ecuador and I barely write in English. Thanks!

13 Dec 2013 daher

hi.. i am having a problem with simulation :((( can you assist please!

Error using Stateflow.SLINSF.SubchartMan.clearMaskParams (line 2952)
Attempt to modify library or subsystem

13 Nov 2013 Florian  
01 Nov 2013 Sang-Joon Lee  
18 Oct 2013 Paul Kassebaum  
07 Oct 2013 Pieter Mosterman

This development kit was produced in the context of the 2013 MathWorks Summer Research Internship project. For more information about the overall project to develop an automated autonomous emergency response system see:

http://www.youtube.com/watch?v=MxrySx1m8VQ

Updates
02 Oct 2013

Modifying description of the blockset

03 Oct 2013

Adding logo.

15 Oct 2013

Updating description.

16 Oct 2013

Updating description 2.

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