ardrone.h

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/**************************************************************************
 *  Copyright 2013 KISS Institute for Practical Robotics                  *
 *                                                                        *
 *  This file is part of libkovan.                                        *
 *                                                                        *
 *  libkovan is free software: you can redistribute it and/or modify      *
 *  it under the terms of the GNU General Public License as published by  *
 *  the Free Software Foundation, either version 2 of the License, or     *
 *  (at your option) any later version.                                   *
 *                                                                        *
 *  libkovan is distributed in the hope that it will be useful,           *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *  GNU General Public License for more details.                          *
 *                                                                        *
 *  You should have received a copy of the GNU General Public License     *
 *  along with libkovan. Check the LICENSE file in the project root.      *
 *  If not, see <http://www.gnu.org/licenses/>.                           *
 **************************************************************************/

#ifndef _ARDRONE_H_
#define _ARDRONE_H_

#ifdef __cplusplus
extern "C" {
#endif

int drone_connect(void);

/*
 * \brief Disconnects from the drone.
 */
void drone_disconnect(void);

void drone_calibrate(void);

int get_drone_version(void);

void drone_takeoff(void);

void drone_land(void);

int get_drone_battery(void);

void drone_clear_position();

float get_drone_x(void);

float get_drone_y(void);

float get_drone_z(void);

float get_drone_x_velocity(void);

float get_drone_y_velocity(void);

float get_drone_z_velocity(void);

float get_drone_pitch(void);

float get_drone_roll(void);

float get_drone_altitude(void);

float get_drone_yaw(void);

enum drone_camera
{
        FRONT_CAMERA,
        BOTTOM_CAMERA
};

int drone_camera_open(enum drone_camera camera);

int set_drone_mac_address(const char *const address);

int drone_pair(void);

int set_drone_ssid(const char *const ssid);
 
void drone_move(float x_tilt, float y_tilt, float z_vel, float yaw_vel);

void drone_hover(void);

void set_drone_emergency_stop_enabled(int enabled);

int get_drone_emergency_stop_enabled(void);

#ifdef __cplusplus
}
#endif

#endif