#include "export.h"
#include "vtable.h"

Enumerations
enum	drone_camera { FRONT_CAMERA, BOTTOM_CAMERA }

Functions
VF EXPORT_SYM int	drone_connect ()
	Establishes a connection between the drone and the Link. This function must be called before any other ardrone functions. More...

VF EXPORT_SYM void	drone_disconnect ()

VF EXPORT_SYM void	drone_calibrate ()
	Calibrates the drone's accelerometers to understand what "flat" is. More...

VF EXPORT_SYM int	get_drone_version ()

VF EXPORT_SYM void	drone_takeoff ()
	Makes the drone takeoff and stabilize itself. This command will return immeadiately. More...

VF EXPORT_SYM void	drone_land ()
	This function will be used to land the drone at its current position. More...

VF EXPORT_SYM int	get_drone_battery ()
	retrieves the cached battery value More...

VF EXPORT_SYM void	drone_clear_position ()
	Clears the accumulated absolute x, y, and z positions of the AR.Drone. More...

VF EXPORT_SYM float	get_drone_x ()
	Retrieves the x value relative to the drones starting position. Negative values indicate the drone has moved to the left of it's starting position. More...

VF EXPORT_SYM float	get_drone_y ()
	Retrieves the y value relative to the drones starting position. Negative values indicate the drone has moved backwards from it's starting position. More...

VF EXPORT_SYM float	get_drone_z ()
	Retrieves the y value relative to the drones starting position. Negative values indicate the drone has moved down from it's starting position. More...

VF EXPORT_SYM float	get_drone_x_velocity ()
	Retrieves the current velocity in the right or left direction. More...

VF EXPORT_SYM float	get_drone_y_velocity ()
	Retrieves the current velocity in the forward or backwards direction. More...

VF EXPORT_SYM float	get_drone_z_velocity ()
	Retrieves the current velocity in the upward or downwards direction. More...

VF EXPORT_SYM float	get_drone_pitch ()
	Retrieves the current pitch of the AR.Drone, in degrees. More...

VF EXPORT_SYM float	get_drone_roll ()
	Retrieves the current roll of the AR.Drone, in degrees. More...

VF EXPORT_SYM float	get_drone_yaw ()
	Retrieves the current rotation in the clockwise (positive) or counterclockwise (negative) direction. More...

VF EXPORT_SYM float	get_drone_altitude ()
	Retrieves the current altitude of the AR.Drone, in meters. More...

VF EXPORT_SYM int	drone_camera_open (enum drone_camera camera)
	Opens the AR.Drone's camera as the camera input device. You must use camera_close() once finished. More...

VF EXPORT_SYM int	set_drone_mac_address (const char *const address)
	Sets the Drone's MAC Address Pair to be the given string. More...

VF EXPORT_SYM int	drone_pair ()
	Automatically detects the host MAC Address and pairs the drone with it. More...

VF EXPORT_SYM int	set_drone_ssid (const char *const ssid)

VF EXPORT_SYM void	drone_move (float x_tilt, float y_tilt, float z_vel, float yaw_vel)
	Tells the drone to move with the given parameters. More...

VF EXPORT_SYM void	drone_hover ()
	Tells the drone that it should stop moving and hover at its current location. More...

VF EXPORT_SYM void	set_drone_emergency_stop_enabled (int enabled)

VF EXPORT_SYM int	get_drone_emergency_stop_enabled ()

Detailed Description

Author: Braden McDorman

Enumeration Type Documentation

enum drone_camera

Enumerator
FRONT_CAMERA
BOTTOM_CAMERA

Function Documentation

VF EXPORT_SYM void drone_calibrate ( )

Calibrates the drone's accelerometers to understand what "flat" is.

VF EXPORT_SYM int drone_camera_open ( enum drone_camera camera )

Opens the AR.Drone's camera as the camera input device. You must use camera_close() once finished.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Parameters

camera FRONT_CAMERA for the horizontal camera, BOTTOM_CAMERA for the vertical camera.

Returns: 1 on success, 0 on failure

VF EXPORT_SYM void drone_clear_position ( )

Clears the accumulated absolute x, y, and z positions of the AR.Drone.

Precondition: drone_connect must have been previously called to esåtablish a connection to the drone.

See also: get_drone_x; get_drone_y; get_drone_z

VF EXPORT_SYM int drone_connect ( )

Establishes a connection between the drone and the Link. This function must be called before any other ardrone functions.

VF EXPORT_SYM void drone_disconnect ( )

VF EXPORT_SYM void drone_hover ( )

Tells the drone that it should stop moving and hover at its current location.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

VF EXPORT_SYM void drone_land ( )

This function will be used to land the drone at its current position.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Postcondition: The drone should slowly descend to the ground from its current height.

VF EXPORT_SYM void drone_move	(	float	x_tilt,
		float	y_tilt,
		float	z_vel,
		float	yaw_vel
	)

Tells the drone to move with the given parameters.

Parameters

enable	A value indicating if movement is enabled. 0 - True 1 - False
x_tilt	A value from zero to one indicating the percentage of maximum tilt in the left or right direction negative values are left and positive values are right. Ex: -.5 means Half of the total tilt left
y_tilt	A value from zero to one indicating the percentage of maximum tilt in the forward or backward direction negative values are left and positive values are right. Ex: -.5 means Half of the total tilt backwards.
yaw_vel	A value indicating the rotational velocity of the dronein milieters per second
z_vel	A value indicating the change in altitude in milimeters per second

VF EXPORT_SYM int drone_pair ( )

Automatically detects the host MAC Address and pairs the drone with it.

Returns: 1 for success, 0 for failure

See also: set_drone_mac_address

VF EXPORT_SYM void drone_takeoff ( )

Makes the drone takeoff and stabilize itself. This command will return immeadiately.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Postcondition: The drone should reach its normal operating height

See also: drone_takeoff_block

VF EXPORT_SYM float get_drone_altitude ( )

Retrieves the current altitude of the AR.Drone, in meters.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the altitude of the AR.Drone in meters.

VF EXPORT_SYM int get_drone_battery ( )

retrieves the cached battery value

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: An integer representing the current battery level

VF EXPORT_SYM int get_drone_emergency_stop_enabled ( )

Gets the previously set emergency stop enabled flag.

See also: set_drone_emergency_stop_enabled

Returns: 1 if emergency stop is enabled, 0 otherwise

VF EXPORT_SYM float get_drone_pitch ( )

Retrieves the current pitch of the AR.Drone, in degrees.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the pitch of the AR.Drone in degrees.

VF EXPORT_SYM float get_drone_roll ( )

Retrieves the current roll of the AR.Drone, in degrees.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the roll of the AR.Drone in degrees.

VF EXPORT_SYM int get_drone_version ( )

Returns: The version of the currently connected drone. For example, an AR.Drone 1 will return the integer 1. The value -1 is returned upon error.

VF EXPORT_SYM float get_drone_x ( )

Retrieves the x value relative to the drones starting position. Negative values indicate the drone has moved to the left of it's starting position.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: x value away from the drones starting position in milimeters verify it is in fact milimeters

VF EXPORT_SYM float get_drone_x_velocity ( )

Retrieves the current velocity in the right or left direction.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the millimeters per second

VF EXPORT_SYM float get_drone_y ( )

Retrieves the y value relative to the drones starting position. Negative values indicate the drone has moved backwards from it's starting position.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: y value away from the drones starting position in milimeters

VF EXPORT_SYM float get_drone_y_velocity ( )

Retrieves the current velocity in the forward or backwards direction.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the velocity in millimeters per second

VF EXPORT_SYM float get_drone_yaw ( )

Retrieves the current rotation in the clockwise (positive) or counterclockwise (negative) direction.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the degrees rotated from the original orientation

VF EXPORT_SYM float get_drone_z ( )

Retrieves the y value relative to the drones starting position. Negative values indicate the drone has moved down from it's starting position.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: z value away from the drones starting position in milimeters

VF EXPORT_SYM float get_drone_z_velocity ( )

Retrieves the current velocity in the upward or downwards direction.

Precondition: drone_connect must have been previously called to establish a connection to the drone.

Returns: A float indicating the velocity in millimeters per second

VF EXPORT_SYM void set_drone_emergency_stop_enabled ( int enabled )

When developing programs for the AR.Drone, it is often useful to be able to "emergency land". This will turn the Link's side button into a dedicated AR.Drone "kill switch". Note that using side_button in conjunction with this function may result in undefined behavior.

Parameters

enabled 0 for off, 1 for on

VF EXPORT_SYM int set_drone_mac_address ( const char *const address )

Sets the Drone's MAC Address Pair to be the given string.

Parameters

macAddress A string representing the MAC Address to pair

Returns: 1 for success, 0 for failure

See also: drone_pair

VF EXPORT_SYM int set_drone_ssid ( const char *const ssid )

Sets the SSID of the Drone to the given ssid.

Attention: This setting will not take effect until the AR.Drone is restarted.

Returns: 1 for success, 0 for failure.

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation