print "connecting to drone..."
if SIM:
vehicle = connect('127.0.0.1:14551', wait_ready=True)
else:
vehicle = connect('0.0.0.0:14550', wait_ready=True) # connecting from GCS
#vehicle = connect('udpout:127.0.0.1:14560', wait_ready=True) #connecting from onboard solo
dd = DroneDirect(vehicle)
dd.take_control()
if SIM:
#arm and takeoff drone - DO NOT USE THIS ON A REAL DRONE ONLY IN SIMULATION
if vehicle.armed == False:
# Don't let the user try to arm until autopilot is ready
print " Waiting for vehicle to initialise..."
while not vehicle.is_armable:
time.sleep(1)
vehicle.armed = True
print 'Vehicle Armed'
dd.takeoff()
try:
'''
YOUR CODE HERE
'''
finally:
dd.release()
else:
vehicle = connect('0.0.0.0:14550', wait_ready=True)
sd = DroneDirect(vehicle, joystick_feel=JOYSTICK_FEEL)
sd.take_control()
if SIM:
#arm and takeoff drone - DO NOT USE THIS ON A REAL DRONE ONLY IN SIMULATION
if vehicle.armed == False:
# Don't let the user try to arm until autopilot is ready
print " Waiting for vehicle to initialise..."
while not vehicle.is_armable:
time.sleep(1)
vehicle.armed = True
print 'Vehicle Armed'
sd.takeoff()
x, y = 0, 0
try:
while running:
#read user input
event = pygame.event.poll()
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
center = event.pos
joy = event.pos
down = True
elif event.type == pygame.MOUSEBUTTONUP and event.button == 1:
down = False
joy = width / 2, height / 2
else:
vehicle = connect('0.0.0.0:14550', wait_ready=True)
dd = DroneDirect(vehicle, joystick_feel=JOYSTICK_FEEL)
dd.take_control()
if SIM:
#arm and takeoff drone - DO NOT USE THIS ON A REAL DRONE ONLY IN SIMULATION
if vehicle.armed == False:
# Don't let the user try to arm until autopilot is ready
print " Waiting for vehicle to initialise..."
while not vehicle.is_armable:
time.sleep(1)
vehicle.armed = True
print 'Vehicle Armed'
dd.takeoff()
x, y = 0, 0
try:
while running:
#read user input
event = pygame.event.poll()
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
center = event.pos
joy = event.pos
down = True
elif event.type == pygame.MOUSEBUTTONUP and event.button == 1:
down = False
joy = width / 2, height / 2
#vehicle = connect('udpout:127.0.0.1:14560', wait_ready=True) #connecting from onboard solo
# Take control of the drone
dd = DroneDirect(vehicle)
dd.take_control()
if SIM:
#arm and takeoff drone - DO NOT USE THIS ON A REAL DRONE ONLY IN SIMULATION
if vehicle.armed == False:
# Don't let the user try to arm until autopilot is ready
print 'Waiting for vehicle to initialise...'
while not vehicle.is_armable:
time.sleep(1)
vehicle.armed = True
print 'Vehicle Armed'
dd.takeoff()
try:
while running:
# Listen for data
print "Waiting for data..."
data = sock.recv(16)
print "Received!"
# Turn data into nice JSON packages
for i in data:
if i == '{':
packet_depth = packet_depth + 1
elif i == '}':
packet_depth = packet_depth - 1
