diff options
| -rw-r--r-- | client2.cpp | 6 | ||||
| -rw-r--r-- | server.py | 19 |
2 files changed, 22 insertions, 3 deletions
diff --git a/client2.cpp b/client2.cpp index 79a46b3..8d2e480 100644 --- a/client2.cpp +++ b/client2.cpp @@ -136,7 +136,7 @@ const char* drawFromCanvasFragmentSource = "uniform float eye_pitch;\n" "uniform float eye_roll;\n" "const float aspect_ratio=1280./2/720.;\n" - "const float horiz_field_of_view=60/180.*3.141592654;\n" + "const float horiz_field_of_view=90/180.*3.141592654;\n" "const float CAM_FX=1/2.0 / tan(horiz_field_of_view/2.0);\n" "const mat3 eye_cal_inv = transpose(mat3(1/CAM_FX, 0, -1/2/CAM_FX, 0, 1/CAM_FX, -1/aspect_ratio/2/CAM_FX, 0,0,1));\n" "const mat3 opencv_to_math = mat3(0,1,0, 0,0,1, -1,0,0);\n" @@ -657,8 +657,8 @@ void* video_fetcher_thread(void* ptr) pitch_diff = deadzone(pitch_diff, 1.0); roll_diff = deadzone(roll_diff, 1.0); - yaw_diff*=0.1; - pitch_diff*=0.1; + yaw_diff*=0.3; + pitch_diff*=0.3; roll_diff*=0.5; yaw_cam = fixup_range(yaw_cam - yaw_diff, -180, 180); pitch_cam = pitch_cam - pitch_diff; @@ -29,6 +29,24 @@ # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +# keyboard: +# 1: enable xy control +# 2: enable z control +# 3: enable rot control +# a: fast +# z: slow +# t: trim +# +# +# joystick: +# thumb: land +# all four thumbbuttons: reset +# left shoulder + right shoulder + 11: takeoff +# 11: readjust +# left shoulder: relative flight mode if held +# right shoulder: float, do not hover, if held. + + import libardrone.libardrone as libardrone import pygame import cv2 @@ -80,6 +98,7 @@ class ServerThread(threading.Thread): global_cmd_rot = float(values[3]) global_cmd_hover = False # TODO XXX lock.release() + print >>sys.stderr, "fly x/y/z/r/hov=",global_cmd_x,",",global_cmd_y,",","global_cmd_z",",",global_cmd_rot,",",global_cmd_hover else: print >>sys.stderr, 'no more data from', client_address break |