Link_Quality

[Dubbauril]

Hey!

Id love to see the link quality on screen while flying and if possible, to save that in a log file. I have near 0 experience with c++ but I'm trying my best,( so far I result only in getting errors.) Any tips or even code for this?

Thank you!

[puku0x]

Hi,

The easiest way is to add a public member function in ARDrone class as below.

// AR.Drone class
class ARDrone {
public:
    // Constructor / Destructor
    ARDrone();
    ARDrone(const char *ardrone_addr);
    virtual ~ARDrone();

    // Initialize
    virtual int open(const char *ardrone_addr = ARDRONE_DEFAULT_ADDR);

    // Update
    virtual int update(void);

    // Finalize (Automatically called)
    virtual void close(void);

    // Get an image
    virtual ARDRONE_IMAGE getImage(void);
    virtual ARDrone& operator >> (cv::Mat &image);
    virtual bool willGetNewImage(void);

    // Get AR.Drone's firmware version
    virtual int getVersion(int *major = NULL, int *minor = NULL, int *revision = NULL);

    // ---------- ADD HERE, FOR INSTANCE ! ----------
    virtual ARDRONE_NAVDATA getNavdata(void)
    {
        ARDRONE_NAVDATA ret = {0};

        // Copy the Navdata
        if (mutexNavdata) pthread_mutex_lock(mutexNavdata);
        ret = navdata;
        if (mutexNavdata) pthread_mutex_unlock(mutexNavdata);

        return ret;
    }

Then, in "main.cpp", you can display the link quality by using the above function and cv::putText().

int main(int argc, char *argv[])
{
    // AR.Drone class
    ARDrone ardrone;

    // Initialize
    if (!ardrone.open()) {
        std::cout << "Failed to initialize." << std::endl;
        return -1;
    }

    while (1) {
        // Key input
        int key = cv::waitKey(33);
        if (key == 0x1b) break;

        // Get an image
        cv::Mat image = ardrone.getImage();

        // Get Navdata
        ARDRONE_NAVDATA navdata = ardrone.getNavdata();

        // Show link quality
        cv::putText(image, "Link quality=" + navdata.wifi.link_quality, cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1, 16);

        // Display the image
        cv::imshow("camera", image);
    }

    return 0;
}

Regards, puku0x