drone.py 文件源码

def __init__(self, host='192.168.1.1'):
        self.host = host

        self.sequence = 1
        self.timer = 0.2
        self.com_watchdog_timer = threading.Timer(self.timer, self.commwdg)
        self.lock = threading.Lock()
        self.speed = 0.2
        self.at(ardrone.at.config, 'general:navdata_demo', 'TRUE')
        self.at(ardrone.at.config, 'control:altitude_max', '20000')
        self.video_pipe, video_pipe_other = multiprocessing.Pipe()
        self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
        self.com_pipe, com_pipe_other = multiprocessing.Pipe()
        self.network_process = ardrone.network.ARDroneNetworkProcess(self.host, nav_pipe_other, video_pipe_other, com_pipe_other)
        self.network_process.start()
        self.ipc_thread = ardrone.network.IPCThread(self)
        self.ipc_thread.start()
        self.image = PIL.Image.new('RGB', (640, 360))
        self.navdata = dict()
        self.time = 0