#! /bin/bash
function takeoff {
	rosservice call $1/buzzcmd 0 22 0 0 0 0 0 0 0 0
}
function land {
	rosservice call $1/buzzcmd 0 21 0 0 0 0 0 0 0 0
}
function arm {
	rosservice call $1/buzzcmd 0 400 0 1 0 0 0 0 0 0
}
function disarm {
	rosservice call $1/buzzcmd 0 400 0 0 0 0 0 0 0 0
}
function testWP {
	rosservice call $1/buzzcmd 0 16 0 0 0 0 0 45.45782 -- -73.63608 10
}
function record {
	rosbag record $1/flight_status $1/global_position $1/users_pos $1/local_position $1/neighbours_pos /power_status /guidance/obstacle_distance /guidance/front/depth/image_rect/compressedDepth /guidance/right/depth/image_rect/compressedDepth /guidance/front/depth/points /guidance/right/depth/points /guidance/front/right/image_rect/compressed /guidance/front/left/image_rect/compressed /guidance/right/right/image_rect/compressed /guidance/right/left/image_rect/compressed /guidance/front/left/camera_info /guidance/front/right/camera_info /guidance/right/right/camera_info /guidance/right/left/camera_info

}
function clean {
	sudo rm /var/log/upstart/robot*
	sudo rm /var/log/upstart/dji*
	sudo rm /var/log/upstart/x3s*
}
function startrobot {
	sudo service dji start
}
function stoprobot {
	sudo service dji stop
}
function updaterobot {
#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
	rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100buzzy.launch
#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXbuzzy.launch
}
function uavstate {
	let "a = $1 + 900"
	rosservice call robot0/buzzcmd 0 $a 0 0 0 0 0 0 0 0
}