From 1243827ba4e65f3098782520f989f6c93291a6c6 Mon Sep 17 00:00:00 2001
From: Filippo Bergamasco <fbergama@gmail.com>
Date: Mon, 18 Jan 2016 19:50:31 +0100
Subject: [PATCH 1/2] navigation data are now stored and updated in drone
 object

gps/pitch/yaw/roll/altitude packets are parsed and stored in drone
object upon received. Additionally, "navdata" event is emitted.
---
 lib/bebop.js | 68 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)

diff --git a/lib/bebop.js b/lib/bebop.js
index 40e5946..84b9127 100644
--- a/lib/bebop.js
+++ b/lib/bebop.js
@@ -212,6 +212,74 @@ Bebop.prototype._packetReceiver = function(message) {
     this._writePacket(this._createARStreamACK(arstreamFrame));
   }
 
+  if( networkFrame.id === constants.BD_NET_DC_NAVDATA_ID ) {
+    var commandProject = networkFrame.data.readUInt8(0),
+        commandClass = networkFrame.data.readUInt8(1),
+        commandId = networkFrame.data.readUInt16LE(2);
+        
+        // Attitude
+        if( commandProject==1 && commandClass == 4 && commandId == 6 ) {
+
+            var _roll = networkFrame.data.readFloatLE(4),
+                _pitch = networkFrame.data.readFloatLE(8),
+                _yaw = networkFrame.data.readFloatLE(12);
+
+            this.navData.attitude = {
+                roll: _roll,
+                pitch: _pitch,
+                yaw: _yaw
+            }
+        }
+
+        // Speed
+        if( commandProject==1 && commandClass == 4 && commandId == 5 ) {
+
+            var _vx = networkFrame.data.readFloatLE(4),
+                _vy = networkFrame.data.readFloatLE(8),
+                _vz = networkFrame.data.readFloatLE(12);
+
+            this.navData.speed = {
+                vx: _vx,
+                vy: _vy,
+                vz: _vz
+            }
+        }
+        
+        // Altitude
+        if( commandProject==1 && commandClass == 4 && commandId == 8 ) {
+
+            var _altitude = networkFrame.data.readDoubleLE(4);
+            this.navData.altitude = _altitude;
+        }
+
+        // GPS
+        if( commandProject==1 && commandClass == 4 && commandId == 4 ) {
+            var _lat = networkFrame.data.readDoubleLE(4),
+                _lon = networkFrame.data.readDoubleLE(12),
+                _alt = networkFrame.data.readDoubleLE(20);
+
+            this.navData.pos = {
+                lat: _lat,
+                lon: _lon,
+                alt: _alt
+            };
+        }
+
+        // Camera
+        if( commandProject==1 && commandClass == 25 && commandId == 0 ) {
+            var _tilt = networkFrame.data.readUInt8(4),
+                _pan  = networkFrame.data.readUInt8(5);
+
+            this.navData.cam = {
+                tilt: _tilt,
+                pan:  _pan
+            };
+        }
+        
+
+        this.emit("navdata", this.navData );
+  }
+
   //
   // libARCommands/Sources/ARCOMMANDS_Decoder.c#ARCOMMANDS_Decoder_DecodeBuffer
   //

From b73b4cf9bd12c39256a2022d9f730eeddc67a019 Mon Sep 17 00:00:00 2001
From: Filippo Bergamasco <fbergama@gmail.com>
Date: Mon, 30 May 2016 10:16:28 +0200
Subject: [PATCH 2/2] Movement vector can now be directly updated

---
 bin/updateCommands.js |  0
 lib/bebop.js          | 13 +++++++++++++
 2 files changed, 13 insertions(+)
 mode change 100644 => 100755 bin/updateCommands.js

diff --git a/bin/updateCommands.js b/bin/updateCommands.js
old mode 100644
new mode 100755
diff --git a/lib/bebop.js b/lib/bebop.js
index 58b0937..76a13ca 100644
--- a/lib/bebop.js
+++ b/lib/bebop.js
@@ -535,6 +535,19 @@ Bebop.prototype.counterClockwise = function(val) {
   return this;
 };
 
+Bebop.prototype.setPCMD = function ( lr_mov, fw_bw_mov, up_down_mov, yaw_rot ) {
+    this._pcmd.flag  = 1;
+    this._pcmd.roll  = Math.max( -100, Math.min(lr_mov, 100 ) );
+    this._pcmd.pitch = Math.max( -100, Math.min(fw_bw_mov,100));
+    this._pcmd.gaz   = Math.max( -100, Math.min(up_down_mov,100));
+    this._pcmd.yaw   = Math.max( -100, Math.min(yaw_rot,100));
+    return this;
+}
+
+Bebop.prototype.getPCMD = function() {
+    return [ this._pcmd.roll || 0, this._pcmd.pitch || 0, this._pcmd.gaz || 0, this._pcmd.yaw || 0 ];
+}
+
 Bebop.prototype.stop = Bebop.prototype.level = function() {
   this._pcmd = {
     flag: 0,