functions.md

Current Status

Completed functions

These functions perform exactly as described in the readme

Active

These functions cause the drone to take a physical action.

• arm()
• disarm()
• setFlightMode( flightMode, execMode <optional> )
• move( direction, time, throttle <optional>, absolute <optional>, execMode <optional> )
• move3d( throttleX, throttleY, throttleZ, time, execMode <optional> )
• surface( execMode <optional> )
• setLights( brightness, execMode <optional> )
• gripperOpen( time, execMode <optional> )
• gripperClose( time, execMode <optional> )
• DEPRECATED: wait( time, execMode <optional> )

Passive

These functions do not cause the drone to make any action other than reading a sensor

• getDepth()
• getGyroscopeData()
• getAccelerometerData()
• getBatteryData()
• getHeading()
• getMagnetometerData()
• getPressureExternal()

Configuration

These functions modify configuration values, which persist on the device between missions

• setSurfacePressure( pressure <optional> )
• setFluidDensity( density <optional> )

Utility

These functions do not fit into any of the other categories.

• disableSensor( sensor, enable <optional>)
• log( message )
• stopCurrentTask()
• stopAllTasks()
• waitQueue()

Mission Mode

Advanced functions relying on GPS fall under mission mode.
See here for more information on missions

Partially completed functions

These functions work as described in the documentation, but to a lesser grade of accuracy. Details on the failings of each one included. These are actively under development

• dive( depth, throttle <optional>, absolute <optional>, execMode <optional> )
  • Rotates to the depth and stops thrusting, but may pass the depth on momentum
• setLeakAction( action )
  • Currently the leak detection is implemented, but the return to base and custom script functions are not yet implemented.

New Functions

These functions were not originally intended, but were added since the last update.
After each update, these functions will be moved to the completed functions category.

• getAltitude()
  • This takes advantage of the new sonar sensor
• gps.getCoordinates()
  • This returns GPS Coordinates
• mission commands
  • This allows the user to plan and execute missions
• getTemperature()
  • This returns the temperature as read by the external pressure sensor
• setDefaultExecMode( mode )
  • This allows for the changing of the default execution mode after initialization
  • Note that this requires the queue to be empty and no commands to be executing.
• getPressureInternal()
  • Returns the internal pressure as a float

Modified Functions (complete)

These Functions were changed in a major way, which is explained below.
After each update, these functions will be moved to the completed functions category.

• yaw( degrees, absolute <optional>, execMode <optional> )
  • Now has 3 stages:
    1. Until within 30 degrees of target, yaws at 50% power
    2. Until within 5 degrees of target, yaws at 25% power
    3. cancels rotational momentum by reversing thrust until rotation is stopped

Not Started functions

• cameraTilt( angle, speed <optional>, absolute <optional>, execMode <optional> )
• cameraStartFeed()
• cameraVideoStart( time <optional>, resolution <optional> )
• cameraVideoStop()
• cameraPhoto( resolution <optional>, zoom <optional>, )
• getAllSensorData()
• setLoggingLevel( level )
• setRecordingInterval( sensor, interval )
• getSonarMap()
• All GPS-Related functions, including:
  • setGpsMode()
  • getCoordinates()
  • goToCoordinates()
  • setHome()
  • goToHome()