I am part a small research group for my school and we own a few 3DR iris+'s. We would like to be able to directly talk to the drones while having complete control over all of it's hardware. We are working on some autonomous drone projects but we are starting from the very beginning. I guess the question is how do I get the same amount of control (and maybe a little more) as the drone's controller? I would like to do this in Java but that doesn't have to be set-in-stone.