From f303c0d49e3e3e5089052d797f3ab2e821c01636 Mon Sep 17 00:00:00 2001
From: Florian Jung <flo@windfisch.org>
Date: Mon, 6 Apr 2015 16:24:06 +0200
Subject: =?UTF-8?q?=C3=A4h=20dingens?=
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---
 client2.cpp |  6 +++---
 server.py   | 19 +++++++++++++++++++
 2 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/client2.cpp b/client2.cpp
index 79a46b3..8d2e480 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -136,7 +136,7 @@ const char* drawFromCanvasFragmentSource =
 	"uniform float eye_pitch;\n"
 	"uniform float eye_roll;\n"
 	"const float aspect_ratio=1280./2/720.;\n"
-	"const float horiz_field_of_view=60/180.*3.141592654;\n"
+	"const float horiz_field_of_view=90/180.*3.141592654;\n"
 	"const float CAM_FX=1/2.0 / tan(horiz_field_of_view/2.0);\n"
 	"const mat3 eye_cal_inv = transpose(mat3(1/CAM_FX, 0, -1/2/CAM_FX,    0, 1/CAM_FX, -1/aspect_ratio/2/CAM_FX,     0,0,1));\n"
 	"const mat3 opencv_to_math = mat3(0,1,0,   0,0,1,   -1,0,0);\n"
@@ -657,8 +657,8 @@ void* video_fetcher_thread(void* ptr)
 		pitch_diff = deadzone(pitch_diff, 1.0);
 		roll_diff = deadzone(roll_diff, 1.0);
 
-		yaw_diff*=0.1;
-		pitch_diff*=0.1;
+		yaw_diff*=0.3;
+		pitch_diff*=0.3;
 		roll_diff*=0.5;
 		yaw_cam = fixup_range(yaw_cam - yaw_diff, -180, 180);
 		pitch_cam = pitch_cam - pitch_diff;
diff --git a/server.py b/server.py
index b4bd971..0adf238 100644
--- a/server.py
+++ b/server.py
@@ -29,6 +29,24 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+# keyboard:
+# 1: enable xy control
+# 2: enable z control
+# 3: enable rot control
+# a: fast
+# z: slow
+# t: trim
+# 
+# 
+# joystick:
+# thumb: land
+# all four thumbbuttons: reset
+# left shoulder + right shoulder + 11: takeoff
+# 11: readjust
+# left shoulder: relative flight mode if held
+# right shoulder: float, do not hover, if held.
+
+
 import libardrone.libardrone as libardrone
 import pygame
 import cv2
@@ -80,6 +98,7 @@ class ServerThread(threading.Thread):
                             global_cmd_rot = float(values[3])
                             global_cmd_hover =  False # TODO XXX
                             lock.release()
+                            print >>sys.stderr, "fly x/y/z/r/hov=",global_cmd_x,",",global_cmd_y,",","global_cmd_z",",",global_cmd_rot,",",global_cmd_hover
                     else:
                         print >>sys.stderr, 'no more data from', client_address
                         break
-- 
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