This code enables the use of an on-board computer controlling the robot through the serial port of the ARDrone, instead of remotely (off-board) through wifi.

This code requires the use of a gcc/g++ ARM cross-compiler. Edit the CMakeLists.txt file according to your installation path for compiler executable names and boost location. You need the Boost library to be compiled for ARM as a dependency. You can compile a single threaded version to skip the pthread dependency. You will still require bzlib and zlib to be compiled for boost. I'm using Sourcery CodeBench Lite 2011.09-70 4.6.1, but you most likely will be able to use other compilers. You will also need mavlink installed so that the mavgen.py script can be used to generate the appropriate headers.

mkdir build
cd build
cmake ..
make

Connect to drone's wifi and do make upload. Executable ardrone-proxy will be saved on /data/video

You need to comment out the ttyPA0 line on /etc/inittab. To do this, connect to the drone's wifi and then telnet 192.168.1.1 Use vi to edit the file and reboot.

Telnet into the drone, and execute ardrone-proxy. The process will be sent to background unless -F is passed as a parameter (mainly for debugging).