The robot page is arguably the most important page in the Dashboard. It provides information across several tabs, accessible in the top navigation bar.
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Inertial Measurement Unit (IMU) - Orientation: the IMU includes an accelerometer and gyroscope, measuring linear and angular accelerations. This data is combined to show the drone's orientation (roll, pitch, yaw), expressed in degrees.
IMU data is measured in the 2-3 kHZ range on the flight controller, provided to the Raspberry Pi at 22 Hz, and rendered in Mission Control at 5 Hz.
The “Calibrate IMU” button can be used to reset and remove bias from the measurements. The data will be saved in the configurations folder and propagated to autonomous nodes too.
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Camera: the camera streams 640x480 resolution images at 30 Hz, rendered by default at 2 Hz in Mission Control.
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Heartbeats: these signals are sent by each block in the pipeline (
joystick,altitude,state(estimation),PID) to the flight controller, and are safety signals. If for any reason one of the heartbeats stops publishing, the drone will disarm. Heartbeats can be manually overridden, but this is not encouraged unless you know what you are doing.
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Arm / Disarm: Drones (yes, even happy Duckiedrones) have spinning propellers, hence are inherently dangerous. To minimize the chance of accidents, the drone is equipped with 3 arming states:
disarmed (
0): This is the safe state. When disarmed, the motors will never receive commands.armed (
1): This is a dangerous state: When armed, the propellers will spin with idle motor commands, but not receive inputs from external nodes (e.g., the PID control node). Don’t let this terminology fool you though: you don’t want to have your fingers anywhere near spinning propellers. Never arm a drone near you, or when other humans or pets are around it!flight (
2): This is the most dangerous state:and an additional browser-interface-inspired layer of security:
pre-check: this is not a state of the Duckiedrone but rather a human miss-clicking prevention system. Unless
pre-checkis set toclear, the interface will not allow toggling any other state. This mean two consecutive willful clicks are necessary to get the propellers spinning ( 1.pre-check→clear; 2.disarmed→ armed
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| Info |
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Remote control commands: W: pitch forward S: pitch backwards A: roll left D: roll right Drag green ball ↕ with mouse: increase / decrease thrust Drag green ball ↔ with mouse: yaw counter-clockwise and clock-wise |
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IMU calibration:
PID reset:
Health
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Status colour Red title TODO
Troubleshooting
Problem: The power button does not generate the intended outcome.
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