These are all the APIs you can use.

Drone Management

| Method | Endpoint | Description |
|--------|----------|-------------|
| GET | `/drones` | List all drones |
| POST | `/drones` | Register new drone |
| GET | `/drones/{{id}}` | Get drone details |
| PUT | `/drones/{{id}}` | Update drone properties (metadata, state, battery, position, home) |
| PUT | `/drones/{{id}}/position` | Update drone position only |
| DELETE | `/drones/{{id}}` | Delete drone |
| POST | `/drones/{{id}}/battery` | Update battery level |

Command Management

Generic Command Endpoint

| Method | Endpoint | Description |
|--------|----------|-------------|
| POST | `/drones/{{id}}/command` | Send any command |
| GET | `/drones/{{id}}/commands` | Get command history |
| GET | `/commands/{{command_id}}` | Get command status |

Direct Command Endpoints

All commands use **POST** method with `/drones/{{id}}/command/{{command_name}}`

Charge can only done at Waypoint target.

| Command | Parameters | Description |
|---------|-----------|-------------|
| `take_off` | `?altitude=10.0` | Takeoff to altitude |
| `land` | - | Land at position |
| `move_to` | `?x=50&y=50&z=15` | Move to coordinates |
| `move_towards` | `?distance=20&heading=90` | Move distance in direction (uses current heading if not specified) |
| `move_along_path` | Body: `{{waypoints:[...]}}` | Follow waypoints |
| `change_altitude` | `?altitude=20.0` | Change altitude only |
| `hover` | `duration` (optional) | Hold position |
| `rotate` | `?heading=180.0` | Change heading/orientation |
| `return_home` | - | Return to launch |
| `set_home` | - | Set home position |
| `calibrate` | - | Calibrate sensors |
| `take_photo` | - | Capture image |
| `send_message` | `?target_drone_id=X&message=Y` | Send to drone |
| `broadcast` | `?message=text` | Send to all |
| `charge` | `?charge_amount=30.0` | Charge battery |

Target Management

Type of target we have fixed, moving, waypoint, circle, polygon. - Note: fixed type can also represent points of interest

| Method | Endpoint | Description |
|--------|----------|-------------|
| GET | `/targets` | List all targets |
| GET | `/targets/{{id}}` | Get target details |
| GET | `/targets/type/{{type}}` | Get by type |

Waypoint Endpoints

| Method | Endpoint | Description |
|--------|----------|-------------|
| GET | `/targets/waypoints` | List charging stations |
| POST | `/targets/waypoints/{{id}}/check-drone` | Check if drone at waypoint |
| GET | `/targets/waypoints/nearest` | Find nearest waypoint |

Obstacle Management

Type of obstacle we hvave point, circle, ellipse, polygon.

| Method | Endpoint | Description |
|--------|----------|-------------|
| GET | `/obstacles` | List all obstacles |
| GET | `/obstacles/{{id}}` | Get obstacle |
| GET | `/obstacles/type/{{type}}` | Get by type |

Collision Detection

**Endpoint:** `POST /obstacles/path_collision`

**Authentication:** Requires SYSTEM role (ADMIN inherits)

**Description:** Checks if a flight path from start to end collides with any obstacles. Returns the **first** obstacle that collides with the path.

**Parameters:**

| Name | Type | Required | Description |
|------|------|----------|-------------|
| start | object | Yes | Start point {{x, y, z}} |
| end | object | Yes | End point {{x, y, z}} |
| safety_margin | float | No | Additional clearance distance (in meters) around the flight path (default: 0.0). Creates a corridor with specified width on each side. Use 0.0 for direct line path, or > 0.0 for safety corridor (e.g., 5.0 creates a 10m-wide corridor). Note: Drone movement commands use 0.0 by default |

**Height Logic:**
- `height = 0`: Impassable at any altitude
- `height > 0`: Collision only if max flight altitude <= obstacle.height

**Response:** Collision response object or null if no collision

**Example Request:**
```bash
curl -X POST http://localhost:8000/obstacles/path_collision \\
  -H "Content-Type: application/json" \\
  -H "X-API-Key: system_secret_key_change_in_production" \\
  -d '{{
    "start": {{"x": 0.0, "y": 0.0, "z": 10.0}},
    "end": {{"x": 200.0, "y": 300.0, "z": 10.0}},
    "safety_margin": 2.0
  }}'
```

**Example Response (Collision):**
```json
{{
  "obstacle_id": "550e8400-e29b-41d4-a716-446655440001",
  "obstacle_name": "Water Tower",
  "obstacle_type": "circle",
  "collision_type": "path_intersection",
  "distance": 5.0
}}
```

**Example Response (No Collision):**
```json
null
```

| Method | Endpoint | Description | Auth |
|--------|----------|-------------|------|
| POST | `/obstacles/path_collision` | Check if flight path collides with obstacles | SYSTEM |
| POST | `/obstacles/point_collision` | Check if point is inside any obstacles (returns all matches) | SYSTEM |

Proximity

| Method | Endpoint | Description |
|--------|----------|-------------|
| GET | `/drones/{{id}}/nearby` | Aggregated nearby drones, targets, obstacles (uses drone's perceived_radius) |
| GET | `/drones/{{id}}/nearby/drones` | Nearby drones (uses drone's perceived_radius) |
| GET | `/drones/{{id}}/nearby/targets` | Nearby targets (uses drone's perceived_radius) |
| GET | `/drones/{{id}}/nearby/obstacles` | Nearby obstacles (uses drone's perceived_radius) |
All proximity endpoints use the drone's `perceived_radius` to determine the search area.