Overview

You are a programmer and enjoy learning new APIs. This section is for you! Lily’s rich SDK give you access to high-level flight, tracking, and camera control functions. You have access to flight controls, tracking functions, and camera settings. Our developer program will open its doors in September 2015. Sign up here for early access: […]

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Getting Started: Dronie App

In this video, we will show you how to write a simple app that does a “Dronie”.

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First Look at the Lily SDK

This is still a work in progress but it gives you an idea of the kind of functionality you will have access to.

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Modes

Modes help you change the basic behavior of Lily. This define what functions are available to the user. Follow means that Lily is always following the user. Watch means that Lily will maintain latest position and point at the user. Manual means that Lily is free to behave. void set_behavior(uint8_t behavior) Function: Sets the mode […]

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Computer Vision

Vector2d get_user_position_in_frame(); Vector2d get_user_size_in_frame(); bool user_in_frame(); bool has_vision_lock();

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Link Data

Vector3d get_link_acceleration(); Function: Gets the acceleration of the link in ENU frame. Arguments: None. Returns: {x,y,z} in m/s^2 Vector3d get_link_velocity(); Function: Gets the velocity of the link in ENU frame. Arguments: None. Returns: {x,y,z} in m/s Vector3d get_link_position(); Function: Gets the global position of the link. Arguments: None. Returns: {lattitude in degrees, longitude in degrees, […]

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Camera Control

void start_video(string filename); Function: Start recording video. Arguments: Filename to use. Function will add an increment to the name if it already exists. Returns: None. double get_video_lenght(); Function: Gets the length of the current recording. Argumnents: None. Returns: Length in seconds. uint64_t get_current_video_start_time(); Function: Gets the start time of the current recording. Arguments: None. Returns: […]

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Computer Vision

Vector2d get_user_position_in_frame(); Function: Gets the coordinates of the user in the frame. Arguments: None Returns: {x,y} in pixels Vector2d get_user_size_in_frame(); Function: Gets the size of the user in the frame. Arguments: None Returns: {x,y} in pixels Vector2d get_size_of_frame(); Function: Get the size of the frame. Arguments: None Returns: {h,w} in pixels bool user_in_frame(); Function: Get […]

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Position Control

void get_angle_from_user(); void set_angle_from_user(double theta); void get_distance_from_user(); void set_distance_from_user(double distance); void get_relative_position(); void set_relative_position(double theta, double, distance); void get_absolute_position(); void set_absolute_position(double lat, double lon); Attitude get_attitude(); void get_max_speed(); void set_max_speed(double mps);

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User Tracking

// pixel values Vector3d get_user_position(); Function: Returns the global position of the user. Arguments: None Returns: {lattitude in degrees, longitude in degrees, altitude in } Vector3d get_user_velocity(); Function: Returns the velocity of the user in East North Up frame. Arguments: None Returns: {E,N,U} in m/s double get_track_confidence(); Function: Gets the confidence of the tracking signal. […]

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