Minidrone-js

Minidrone-js is an easy to use drone library for the Parrot Minidrones. In theory it supports many different Parrot drones besides Minidrones but this is untested.

This library is loosely based on the work by fetherston for npm-parrot-minidrone and amymcgovern for pymambo.

Functionality

This library is designed to support the two-way command communication protocol used by Parrot drones. It supports receiving sensor updates and sending commands based on the xml specification.

Installation

npm install minidrone-js --save

TypeScript

The package ships TypeScript declarations (.d.ts), generated from the JSDoc, so editors and TypeScript projects get autocompletion and type-checking. No separate @types package is required.

Example

This example will make the drone take-off, do a flip and then land again.

const {DroneConnection, CommandParser, BLEConnector} = require('minidrone-js');

const parser = new CommandParser();

// Pick a connector for your drone: BLEConnector() for Bluetooth or
// WifiConnector() for Wifi drones. The DroneConnection wraps it.
const connector = new BLEConnector();
const drone = new DroneConnection(connector);


/* 
 * Commands are easily found by reading the xml specification
 * https://github.com/Parrot-Developers/arsdk-xml/blob/master/xml/
 */
const takeoff = parser.getCommand('minidrone', 'Piloting', 'TakeOff');
const landing = parser.getCommand('minidrone', 'Piloting', 'Landing');
const backFlip = parser.getCommand('minidrone', 'Animations', 'Flip', {direction: 'back'});

/** Helper function */
function sleep(ms) {
  return new Promise(a => setTimeout(a, ms));
}

void async function() {
  // connect() lives on the connector; the connection forwards its 'connected' event
  await connector.connect();
  await new Promise(resolve => drone.once('connected', resolve));

  // Makes the code a bit clearer
  const runCommand = x => drone.runCommand(x);

  await runCommand(takeoff);

  await sleep(2000);
  await runCommand(backFlip);

  await sleep(2000);
  await runCommand(landing);

  await sleep(5000);
  process.exit();
}();

Connectors

A DroneConnection wraps a connector that handles the transport. Two are provided:

Connector	Transport	connect()
BLEConnector	Bluetooth LE (via @abandonware/noble)	connect() scans for and connects to a nearby drone
WifiConnector	Wifi (UDP/TCP)	connect() auto-discovers over mDNS, or connect(host, port) connects directly

const { DroneConnection, WifiConnector } = require('minidrone-js');

const drone = new DroneConnection(new WifiConnector());
// drone.connector.connect();          // mDNS auto-discovery
// drone.connector.connect('192.168.99.3', 44444); // or connect directly

mDNS auto-discovery relies on the optional native mdns dependency. It is an optionalDependency, so installs never fail when it can't be built (e.g. on Node versions where it has no prebuilt binary). Without it, BLE and the direct connect(host, port) path still work. Only no-argument Wifi discovery needs it, and it rejects with a clear error when it is unavailable. On Linux mdns needs libavahi-compat-libdnssd-dev.

You can also use a connector directly without DroneConnection:

const { WifiConnector, CommandParser } = require('minidrone-js');

const parser = new CommandParser();
const drone = new WifiConnector();

drone.on('connected', () => drone.sendCommand(parser.getCommand('minidrone', 'Piloting', 'TakeOff')));
drone.connect();

Bluetooth on unsupported hardware, or a custom transport

BLEConnector loads @abandonware/noble lazily, only when you construct one. So require('minidrone-js') works without noble's native binding, and Wifi or a custom connector run without it. If noble does not support your Bluetooth hardware, you have three options:

• Inject your own noble (for example, one configured with a custom hci-socket binding): new BLEConnector(droneFilter, myNoble).
• Use Wifi instead. WifiConnector needs no Bluetooth at all.
• Bring your own transport. Extend BaseConnector, implement connect() and sendCommand(command), and emit connected, incoming (a parsed DroneCommand), and disconnected. Pass it to DroneConnection like any other connector.

Events

DroneConnection (and the connectors) are EventEmitters:

Event	Fired when
connected	the drone is connected and ready for commands
disconnected	the connection to the drone was lost
error	the underlying transport raised an error
sensor:<token>	a sensor reading arrived (e.g. sensor:minidrone-UsbAccessoryState-GunState)
sensor:*	any sensor reading arrived

drone.on('sensor:minidrone-UsbAccessoryState-GunState', (sensor) => {
  if (sensor.state.value === sensor.state.enum.READY) {
    console.log('The gun is ready to fire!');
  }
});

Error handling. Like any Node EventEmitter, an 'error' event with no listener is thrown. Attach an 'error' handler if you want to recover from transport errors instead of crashing.

Migrating from 0.6.x

DroneConnection now takes a connector:

// 0.6.x
const drone = new DroneConnection();

// 0.7.0+
const drone = new DroneConnection(new BLEConnector()); // or new WifiConnector()

connect() lives on the connector, and BLEConnector/WifiConnector are exported from the package. Everything else (runCommand, getSensor, sensor:* events, CommandParser) is unchanged.

Troubleshooting

MacOS won't connect to the drone

• First turn off Bluetooth
• Run the following code in your shell

rm -v ~/Library/Preferences/ByHost/com.apple.Bluetooth.*.plist
sudo rm /Library/Preferences/com.apple.Bluetooth.plist

• Turn Bluetooth back on

Or alternativly using blueutil:

blueutil off
rm -v ~/Library/Preferences/ByHost/com.apple.Bluetooth.*.plist
sudo rm /Library/Preferences/com.apple.Bluetooth.plist
blueutil on

License

MIT License

Copyright 2018-2026 Mechazawa mega@ioexception.at

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.