def get_gimbal_ip():
global gimbal_ip
GIMBAL_PORT = 5584
l = listener(GIMBAL_PORT)
ip_address = l.read()
gimbal_ip = ip_address
def initialise():
sp = sapi.create_sp()
device_id = sapi.choose_device(sp)
listen = listener(sp, device_id)
return listen
def get_gimbal_ip():
global gimbal_ip
GIMBAL_PORT = 5584
l = listener(GIMBAL_PORT)
ip_address = l.read()
gimbal_ip = ip_address
threadGimbal = Thread(target=get_gimbal_ip)
threadGimbal.start()
GS_PORT = 5585
l = listener(GS_PORT)
ip_address = l.read()
port_number = 5600
print("\n\n\nStarting the first stream...\n\n\n")
raspivid_command = "raspivid -n -vf -t 0 -fl -b 10000000 -fps 30 -h 720 -w 1280 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host= " + str(
ip_address) + " port=" + str(port_number) + " &"
os.system(raspivid_command)
state = [False, False, False, False, True]
count = 0
current_state = 4
new_state = 0
mavString = "sudo mavproxy.py --master=/dev/ttys0 --baudrate 57600 --out " + ip_address + ":14550 --aircraft MyCopter"