ki = 0.0005 x_pid = PID(Kp=kp, Kd=kd, Ki=ki) y_pid = PID(Kp=kp, Kd=kd, Ki=ki) angle_pid = PID(Kp=1.5, Kd=0.5, Ki=0.05) while True: k = cv2.waitKey(1) if k == ord(" ") and not is_flying: drone.takeoff() logger.info("Takeoff") is_flying = not is_flying elif k == ord(" ") and is_flying: drone.land() logger.info("Landing") is_flying = not is_flying elif k == ord("d") and is_flying: drone.event_boom() logger.info("Dance") time.sleep(3) elif k == ord("r"): drone.reset() logger.info("Reset") elif k == ord("s") or k == ord("q"): break image = freenect.sync_get_video()[0] image = cv2.cvtColor(image, cv2.cv.CV_BGR2RGB)
ki = 0.0005 x_pid = PID(Kp=kp, Kd=kd, Ki=ki) y_pid = PID(Kp=kp, Kd=kd, Ki=ki) angle_pid = PID(Kp=1.5, Kd=0.5, Ki=0.05) while True: k = cv2.waitKey(1) if k == ord(' ') and not is_flying: drone.takeoff() logger.info("Takeoff") is_flying = not is_flying elif k == ord(' ') and is_flying: drone.land() logger.info("Landing") is_flying = not is_flying elif k == ord('d') and is_flying: drone.event_boom() logger.info("Dance") time.sleep(3) elif k == ord('r'): drone.reset() logger.info("Reset") elif k == ord('s') or k == ord('q'): break image = freenect.sync_get_video()[0] image = cv2.cvtColor(image, cv2.cv.CV_BGR2RGB)