teleop_twist.h

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#ifndef ARDRONE_AUTONOMY_TELEOP_TWIST_H
#define ARDRONE_AUTONOMY_TELEOP_TWIST_H

#include <ardrone_autonomy/ardrone_sdk.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/Empty.h>
#include <std_srvs/Empty.h>
#include <ardrone_autonomy/CamSelect.h>
#include <ardrone_autonomy/LedAnim.h>
#include <ardrone_autonomy/FlightAnim.h>
#include <ardrone_autonomy/RecordEnable.h>

#define _EPS 1.0e-6

extern input_device_t teleop;

void CmdVelCallback(const geometry_msgs::TwistConstPtr &msg);
void LandCallback(const std_msgs::Empty &msg);
void ResetCallback(const std_msgs::Empty &msg);
void TakeoffCallback(const std_msgs::Empty &msg);

// void toggleCamCallback(const std_msgs::Empty &msg);
bool SetCamChannelCallback(
    ardrone_autonomy::CamSelect::Request& request,
    ardrone_autonomy::CamSelect::Response& response);

bool ToggleCamCallback(
    std_srvs::Empty::Request& request,
    std_srvs::Empty::Response& response);

bool SetLedAnimationCallback(
    ardrone_autonomy::LedAnim::Request& request,
    ardrone_autonomy::LedAnim::Response& response);

bool FlatTrimCallback(
    std_srvs::Empty::Request& request,
    std_srvs::Empty::Response& response);

bool SetFlightAnimationCallback(
    ardrone_autonomy::FlightAnim::Request& request,
    ardrone_autonomy::FlightAnim::Response& response);

bool SetRecordCallback(
    ardrone_autonomy::RecordEnable::Request &request,
    ardrone_autonomy::RecordEnable::Response& response);

// All global drone configs that should be sent on init

#define DEFAULT_CAM_STATE 0
#define DEFAULT_NAVDATA_DEMO 0

extern int cam_state;
extern int set_navdata_demo_value;
extern int32_t detect_enemy_color;
extern int32_t detect_groundstripes_color;
extern int32_t detect_indoor_hull;  // 1: Indoor Hull
extern int32_t detect_dtype;
extern int32_t detect_hori_type;
extern int32_t detect_vert_type;
extern int32_t detect_disable_placeholder;
extern int32_t detect_enable_placeholder;

#endif  // ARDRONE_AUTONOMY_TELEOP_TWIST_H