An open firmware for the Parrot AR Drone 2 written in Go.

This project is a work in progress, but the following things should work:

• Navboard driver
• Motorboard driver
• Complementary flight stablization filter
• Gamepad control via WebSocket / HTML5 Gamepad API
• Basic flight!

The following things still need to be implemented:

• Ultrasound height detection
• Battery status
• Reset motor emergency mode
• High level API for writing apps
• Camera Access
• Optical flow tracking for bottom camera / better hover stabilization
• Kalman filter (supposedly better performance than complementary filter)
• Parrot UDP protocol
• Parrot TCP Video Protocol
• JS scripting

This project is mainly a personal challenge I set for myself.

However, if it turns out well, this firmware may become a viable replacement for the Parrot AR Drone firmware, allowing for a few interesting use cases:

• Education: Demonstrate quad copter physics, by controlling motors individually.
• Autonomy: Write autonomous drone software that requires no Wi-Fi connection / client to be connected.
• HTML client: Control the drone from the web browser of any device via HTML / JS / WebSockets. No need for custom apps.
• Acrobatics: Teach the drone new acrobatic tricks and allow for more aggresive flight.
• Hackability: Easy support for additional devices connected to the drone (GPS, Sensors, Lasers, etc.)

This project is licensed under the AGPL v3.

Copyright (C) 2013 Felix Geisendörfer
http://felixge.de/

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Affero General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Affero General Public License for more details.

You should have received a copy of the GNU Affero General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.