diff options
Diffstat (limited to 'server.py')
| -rw-r--r-- | server.py | 29 |
1 files changed, 23 insertions, 6 deletions
@@ -181,6 +181,14 @@ global_batt = 0. global_frame = None serverthread.start() + +drone.set_max_vz(750.0000) +drone.set_max_rotspeed(1.0) +drone.set_max_angle(0.1) +limit_vz=750.0 +limit_rot=1.0 +limit_tilt=0.1 + while True: if no_flight == False: pygame.event.pump() @@ -234,18 +242,21 @@ while True: if manual_override_xy: actual_hover, actual_x, actual_y = js_hover, js_x, js_y else: - actual_hover, actual_x, actual_y = global_cmd_hover, global_cmd_x, global_cmd_y + actual_hover, actual_x, actual_y = global_cmd_hover, global_cmd_x/limit_tilt, global_cmd_y/limit_tilt + actual_x=max(-1.0, min(1.0, actual_x)) + actual_y=max(-1.0, min(1.0, actual_y)) if manual_override_z: actual_z = js_z else: - actual_z = global_cmd_z + actual_z = global_cmd_z / limit_vz + actual_z=max(-1.0, min(1.0, actual_z)) if manual_override_rot: actual_rot = js_rot else: - actual_rot = global_cmd_rot - print "global_cmd_rot used, was",global_cmd_rot + actual_rot = global_cmd_rot / limit_rot + actual_rot=max(-1.0, min(1.0, actual_rot)) drone.move_freely( not actual_hover , actual_x, actual_y, actual_z, actual_rot) @@ -283,13 +294,19 @@ while True: if key == ord("z"): drone.set_max_vz(750.0000) - drone.set_max_rotspeed(1.0) - drone.set_max_angle(0.1) + drone.set_max_rotspeed(10) + drone.set_max_angle(0.2) + limit_vz=750.0 + limit_rot=10. + limit_tilt=0.2 print "slow" elif key == ord("a"): drone.set_max_vz(10000.0000) drone.set_max_rotspeed(10) drone.set_max_angle(0.6) + limit_vz=10000.0 + limit_rot=10. + limit_tilt=0.6 print "fast" if key == ord("1"): |