comm.py will connect to your drone and allow you to fly it. It will
display the video stream.
Safety warning: this will take-off your drone if you press x.
Be prepared to catch it mid-air in case the control program crashes
or you lose control over the drone. Controlling it is very difficult
using only a keyboard.
This is very fiddly for now. Build the parsestream.so in
parse_tcpstream. Then move the .so-file that was
generated in the build/ directory to this directory.
Launch the software with python3 comm.py. It should first output the following:
sending initialization sequence to the drone
(b'UDP720P', ('172.16.10.1', 8080)) # <-- this is the ID sent by the drone
(b'V2.4.8', ('172.16.10.1', 8080)) # <-- this is the firmware version sent by the drone
(b'V2.4.8', ('172.16.10.1', 8080))
initialization complete, now opening the video+telemetry TCP socket
Then, after a while, a OpenCV window should pop up that displays a live camera view. You can use the following keys in the window:
- W/A/S/D: pitch/roll the drone forward/backward/sideway. This is cumulative. Caution: releasing the key does not stop / level the drone. Instead, when pressing "W" two times, the drone will fly forward until you press "A" two times.
- Q/E: rotate (yaw) the drone. The same warning applies here.
- R/F: rise/descend. The same warning applies here.
- 1/2/3: cancel any previous movement, i.e. level the drone out
- X: launch
- Z: land
- C: panic. Caution: your drone will fall down immediately.
During flight, the telemetry data is being written to stdout.
This tool will create two files:
- a raw tcp stream dump (
streamdump.bin). You can analyze it further using the fix_stream.py tool. - a video dump (
output.avi, re-encoded using OpenCV's VideoWriter)