diff options
| author | Florian Jung <flo@windfisch.org> | 2015-02-06 13:57:02 +0100 |
|---|---|---|
| committer | Florian Jung <flo@windfisch.org> | 2015-02-06 13:57:02 +0100 |
| commit | b1fc406aa93d6d52a681a46eff00fc592c74dbb0 (patch) | |
| tree | 77916128d782315e793485bc09028767a6650b80 | |
| parent | fcdc75f656fd999b90f5ce210f4c07e4d9f9c42a (diff) | |
fixes: make it fly
| -rw-r--r-- | server.py | 15 |
1 files changed, 14 insertions, 1 deletions
@@ -7,6 +7,8 @@ import sys import threading import time import struct +import math +from math import sin,cos,tan OVERRIDE_THRESHOLD=0.01 @@ -44,6 +46,7 @@ class ServerThread(threading.Thread): global_cmd_y = float(values[1]) global_cmd_z = float(values[2]) global_cmd_rot = float(values[3]) + global_cmd_hover = False # TODO XXX lock.release() else: print >>sys.stderr, 'no more data from', client_address @@ -91,6 +94,11 @@ manual_override_xy = True manual_override_z = True manual_override_rot = True +global_cmd_x = 0 +global_cmd_y = 0 +global_cmd_z = 0 +global_cmd_rot = 0 +global_cmd_hover = False # TODO XXX drone = libardrone.ARDrone(True, True) drone.reset() @@ -113,6 +121,8 @@ global_frame = None serverthread.start() while True: if no_flight == False: + pygame.event.pump() + btn_leftshoulder = js.get_button(4) or js.get_button(6) btn_rightshoulder = js.get_button(5) or js.get_button(7) btn_thumb = js.get_button(0) or js.get_button(1) or js.get_button(2) or js.get_button(3) @@ -121,15 +131,18 @@ while True: if btn_thumb: drone.land() + print "landing" manual_override_xy = True manual_override_z = True manual_override_rot = True if btn_leftshoulder and btn_rightshoulder and js.get_button(10): - #drone.takeoff() + drone.takeoff() + print "taking off" manual_override_xy = True manual_override_z = True manual_override_rot = True if btn_all: + print "resetting" drone.reset() manual_override_xy = True manual_override_z = True |