#include <ardrone_driver.h>

Public Member Functions
	ARDroneDriver ()
double	getRosParam (char *param, double defaultVal)
bool	imuReCalibCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
void	publish_navdata (navdata_unpacked_t &navdata_raw, const ros::Time &navdata_receive_time)
void	publish_video ()
void	PublishNavdataTypes (const navdata_unpacked_t &n, const ros::Time &received)
void	run ()
	~ARDroneDriver ()
Public Attributes
bool	enabled_legacy_navdata
bool	enabled_navdata_adc_data_frame
bool	enabled_navdata_altitude
bool	enabled_navdata_demo
bool	enabled_navdata_euler_angles
bool	enabled_navdata_games
bool	enabled_navdata_gyros_offsets
bool	enabled_navdata_hdvideo_stream
bool	enabled_navdata_kalman_pressure
bool	enabled_navdata_magneto
bool	enabled_navdata_phys_measures
bool	enabled_navdata_pressure_raw
bool	enabled_navdata_pwm
bool	enabled_navdata_raw_measures
bool	enabled_navdata_rc_references
bool	enabled_navdata_references
bool	enabled_navdata_time
bool	enabled_navdata_trackers_send
bool	enabled_navdata_trims
bool	enabled_navdata_video_stream
bool	enabled_navdata_vision
bool	enabled_navdata_vision_detect
bool	enabled_navdata_vision_of
bool	enabled_navdata_vision_perf
bool	enabled_navdata_vision_raw
bool	enabled_navdata_watchdog
bool	enabled_navdata_wifi
bool	enabled_navdata_wind_speed
bool	enabled_navdata_zimmu_3000
bool	initialized_navdata_publishers
ardrone_autonomy::navdata_adc_data_frame	navdata_adc_data_frame_msg
ardrone_autonomy::navdata_altitude	navdata_altitude_msg
ardrone_autonomy::navdata_demo	navdata_demo_msg
ardrone_autonomy::navdata_euler_angles	navdata_euler_angles_msg
ardrone_autonomy::navdata_games	navdata_games_msg
ardrone_autonomy::navdata_gyros_offsets	navdata_gyros_offsets_msg
ardrone_autonomy::navdata_hdvideo_stream	navdata_hdvideo_stream_msg
ardrone_autonomy::navdata_kalman_pressure	navdata_kalman_pressure_msg
ardrone_autonomy::navdata_magneto	navdata_magneto_msg
ardrone_autonomy::navdata_phys_measures	navdata_phys_measures_msg
ardrone_autonomy::navdata_pressure_raw	navdata_pressure_raw_msg
ardrone_autonomy::navdata_pwm	navdata_pwm_msg
ardrone_autonomy::navdata_raw_measures	navdata_raw_measures_msg
ardrone_autonomy::navdata_rc_references	navdata_rc_references_msg
ardrone_autonomy::navdata_references	navdata_references_msg
ardrone_autonomy::navdata_time	navdata_time_msg
ardrone_autonomy::navdata_trackers_send	navdata_trackers_send_msg
ardrone_autonomy::navdata_trims	navdata_trims_msg
ardrone_autonomy::navdata_video_stream	navdata_video_stream_msg
ardrone_autonomy::navdata_vision_detect	navdata_vision_detect_msg
ardrone_autonomy::navdata_vision	navdata_vision_msg
ardrone_autonomy::navdata_vision_of	navdata_vision_of_msg
ardrone_autonomy::navdata_vision_perf	navdata_vision_perf_msg
ardrone_autonomy::navdata_vision_raw	navdata_vision_raw_msg
ardrone_autonomy::navdata_watchdog	navdata_watchdog_msg
ardrone_autonomy::navdata_wifi	navdata_wifi_msg
ardrone_autonomy::navdata_wind_speed	navdata_wind_speed_msg
ardrone_autonomy::navdata_zimmu_3000	navdata_zimmu_3000_msg
ros::Publisher	pub_navdata_adc_data_frame
ros::Publisher	pub_navdata_altitude
ros::Publisher	pub_navdata_demo
ros::Publisher	pub_navdata_euler_angles
ros::Publisher	pub_navdata_games
ros::Publisher	pub_navdata_gyros_offsets
ros::Publisher	pub_navdata_hdvideo_stream
ros::Publisher	pub_navdata_kalman_pressure
ros::Publisher	pub_navdata_magneto
ros::Publisher	pub_navdata_phys_measures
ros::Publisher	pub_navdata_pressure_raw
ros::Publisher	pub_navdata_pwm
ros::Publisher	pub_navdata_raw_measures
ros::Publisher	pub_navdata_rc_references
ros::Publisher	pub_navdata_references
ros::Publisher	pub_navdata_time
ros::Publisher	pub_navdata_trackers_send
ros::Publisher	pub_navdata_trims
ros::Publisher	pub_navdata_video_stream
ros::Publisher	pub_navdata_vision
ros::Publisher	pub_navdata_vision_detect
ros::Publisher	pub_navdata_vision_of
ros::Publisher	pub_navdata_vision_perf
ros::Publisher	pub_navdata_vision_raw
ros::Publisher	pub_navdata_watchdog
ros::Publisher	pub_navdata_wifi
ros::Publisher	pub_navdata_wind_speed
ros::Publisher	pub_navdata_zimmu_3000
Private Member Functions
double	calcAverage (std::vector< double > &vec)
void	configureDrone ()
void	publish_tf ()
void	PublishNavdataTypes (const navdata_unpacked_t &n, const ros::Time &received)
bool	readCovParams (std::string param_name, boost::array< double, 9 > &cov_array)
void	resetCaliberation ()
Private Attributes
double	acc_bias [3]
std::vector< std::vector < double > >	acc_samples
bool	caliberated
camera_info_manager::CameraInfoManager *	cinfo_hori_
camera_info_manager::CameraInfoManager *	cinfo_vert_
ros::Subscriber	cmd_vel_sub
long int	copy_current_frame_id
long int	copy_current_navdata_id
bool	do_caliberation
int	drone_root_frame
std::string	droneFrameBase
std::string	droneFrameBottomCam
std::string	droneFrameFrontCam
std::string	droneFrameId
std::string	droneFrameIMU
ros::ServiceServer	flatTrim_service
int	flying_state
double	gyro_bias [3]
std::vector< std::vector < double > >	gyro_samples
image_transport::CameraPublisher	hori_pub
image_transport::CameraPublisher	image_pub
image_transport::ImageTransport	image_transport
sensor_msgs::Imu	imu_msg
ros::Publisher	imu_pub
ros::ServiceServer	imuReCalib_service
bool	inited
ros::Subscriber	land_sub
long int	last_frame_id
long int	last_navdata_id
ardrone_autonomy::Navdata	legacynavdata_msg
geometry_msgs::Vector3Stamped	mag_msg
ros::Publisher	mag_pub
int	max_num_samples
ros::Publisher	navdata_pub
ros::NodeHandle	node_handle
ros::Subscriber	reset_sub
ros::ServiceServer	setCamChannel_service
ros::ServiceServer	setFlightAnimation_service
ros::ServiceServer	setLedAnimation_service
ros::ServiceServer	setRecord_service
ros::Subscriber	takeoff_sub
tf::StampedTransform	tf_base_bottom
tf::StampedTransform	tf_base_front
tf::TransformBroadcaster	tf_broad
ros::ServiceServer	toggleCam_service
double	vel_bias [3]
std::vector< std::vector < double > >	vel_samples
image_transport::CameraPublisher	vert_pub