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-rw-r--r--server.py11
1 files changed, 7 insertions, 4 deletions
diff --git a/server.py b/server.py
index c44c7b4..08d26a8 100644
--- a/server.py
+++ b/server.py
@@ -185,11 +185,12 @@ while True:
if no_flight == False:
pygame.event.pump()
- btn_leftshoulder = js.get_button(4) or js.get_button(6)
- btn_rightshoulder = js.get_button(5) or js.get_button(7)
+ btn_leftshoulder = js.get_button(4) or js.get_button(5)
+ btn_rightshoulder = js.get_button(6) or js.get_button(7)
btn_thumb = js.get_button(0) or js.get_button(1) or js.get_button(2) or js.get_button(3)
btn_all = js.get_button(0) and js.get_button(1) and js.get_button(2) and js.get_button(3)
- btn_readjust = js.get_button(10)
+ btn_readjust = js.get_button(8)
+ btn_unlock = js.get_button(9)
if btn_thumb:
drone.land()
@@ -197,7 +198,7 @@ while True:
manual_override_xy = True
manual_override_z = True
manual_override_rot = True
- if btn_leftshoulder and btn_rightshoulder and js.get_button(10):
+ if btn_leftshoulder and btn_rightshoulder and js.get_button(8):
drone.takeoff()
print "taking off"
manual_override_xy = True
@@ -211,6 +212,8 @@ while True:
manual_override_rot = True
if btn_readjust:
js_angle_shift = drone.navdata.get(0, dict()).get('psi',0)
+ if btn_unlock:
+ manual_override_rot = False
rel_angle = (drone.navdata.get(0, dict()).get('psi',0) - js_angle_shift)/180.*math.pi