is_flying = False
kp = 0.2
kd = 0.1
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
is_flying = False
kp = 0.2
kd = 0.1
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
