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You didn't mention which version you're using in your question so I'm assuming that you're using the 2.0. While your drone is on a flat surface, run

rosservice call /ardrone/flattrim

From the docs

Flat Trim

Calling ardrone/flattrim service without any parameter will send a “Flat Trim” request to AR-Drone to re-calibrate its rotation estimates assuming that it is on a flat surface. Do not call this service while Drone is flying or while the drone is not actually on a flat surface.

If this still doesn't work, then try the calibration command from the phone app (again, while on a flat surface).

You didn't mention which version you're using in your question so I'm assuming that you're using the 2.0. While your drone is on a flat surface, run

rosservice call /ardrone/flattrim

From the docs

Flat Trim

Calling ardrone/flattrim service without any parameter will send a “Flat Trim” request to AR-Drone to re-calibrate its rotation estimates assuming that it is on a flat surface. Do not call this service while Drone is flying or while the drone is not actually on a flat surface.

If this still doesn't work, then try the calibration command from the phone app (again, while on a flat surface).


Edit:

If the lights are red then you probably have an error due a high acceleration (even carrying the drone can cause this) or rotating the drone too much. Publish an std_msgs/Empty message to the ardrone/reset topic to reset it and then flat trim.