ar-flight.js

var arDrone = require('ar-drone');
var client = arDrone.createClient();


var direction = "unset";
var altitude = 0;

client.config('general:navdata_demo', 'FALSE');

client.on('batteryChange', function (data) {
    if (data < 21) {
        console.log("PLUG ME IN!");
        this.land();
    }
});

client.on('navdata', function (data) {
    if (data.demo) {
        direction = Math.floor(data.demo.clockwiseDegrees);
        controlState = data.demo.controlState;
        altitude = data.demo.altitudeMeters;
    }
});

function setHeight (desiredHeight, cb) {
    console.log("altitude: " + altitude);
    var variation = 0.1;
    if (desiredHeight > altitude + variation) {
        client.up(0.5);
        setTimeout(function () {
            setHeight(desiredHeight, cb);
        }, 20);
    } else if (desiredHeight < altitude - variation) {
        client.down(0.5);
        setTimeout(function () {
            setHeight(desiredHeight, cb);
        }, 20);
    } else {
        client.stop();
        setTimeout(cb, 1000);
    }
}

client.takeoff(function() {
    var start = direction;
    var height = 2;

    setHeight(height, function () {
        rotateTo(start, "clockwise", function() {
            moveForward(0.4, 2000, function () {
                setHeight(height, function () {
                    rotateTo(start + 180, "clockwise", function() {
                        moveForward(0.4, 2000, function () {
                            client.land();
                        }, 2000);
                    });
                });
            }, 2000);
        });
    });
  });


function moveForward (speed, duration, cb, wait) {
    wait = wait || 0;
    client.front(speed);
    setTimeout(function () {
        client.stop();
        setTimeout(cb, wait);
    }, duration);
}

function rotateTo(finalDirection, spinDirection, cb) {
    // TODO set speed based on how much rotation is left
    // if FD && D > 0
    // else if FD && D < 0
    var rotationSpeed = 0.2;

    // reset finalDirection if OOB
    if (finalDirection > 180) {
        // need to convert to -180
        finalDirection = finalDirection - 360;
        rotateTo(finalDirection, spinDirection, cb);
        return false;
    } else if (finalDirection < -180) {
        // need to convert to 180
        finalDirection = finalDirection + 360;
        rotateTo(finalDirection, spinDirection, cb);
        return false;
    }


    if (direction !== "unset" &&  ((direction > finalDirection + 2) || (direction < finalDirection - 2)) ) {
        console.log(direction);
        client[spinDirection](rotationSpeed);
        setTimeout(function () {
            rotateTo(finalDirection, spinDirection, cb);
        }, 20);
    } else {
        client.stop();
        setTimeout(cb, 2500);
    }
}