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tello: improve video encoding rate API call 

Signed-off-by: Ron Evans <ron@hybridgroup.com>
This commit is contained in:
Ron Evans 2018-04-19 18:28:14 +02:00
parent dda57b1a26
commit 9875acbe06
3 changed files with 18 additions and 5 deletions
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3
examples/tello_opencv.go
View File

@ -64,7 +64,8 @@ func main() {
fmt.Println("Connected")
drone.StartVideo()
drone.SetExposure(1)
drone.SetVideoEncoderRate(3)
drone.SetVideoEncoderRate(4)
gobot.Every(250*time.Millisecond, func() {
drone.StartVideo()
})

2
examples/tello_video.go
View File

@ -36,7 +36,7 @@ func main() {
drone.On(tello.ConnectedEvent, func(data interface{}) {
fmt.Println("Connected")
drone.StartVideo()
drone.SetExposure(0)
drone.SetVideoEncoderRate(4)
gobot.Every(250*time.Millisecond, func() {
drone.StartVideo()
})

18
platforms/dji/tello/driver.go
View File

@ -191,13 +191,13 @@ func (d *Driver) Start() error {
// send stick commands
go func() {
time.Sleep(100 * time.Millisecond)
time.Sleep(50 * time.Millisecond)
for {
err := d.SendStickCommand()
if err != nil {
fmt.Println("stick command error:", err)
}
time.Sleep(50 * time.Millisecond)
time.Sleep(20 * time.Millisecond)
}
}()
@ -335,7 +335,19 @@ func (d *Driver) SetExposure(level int) (err error) {
// SetVideoEncoderRate sets the drone video encoder rate.
func (d *Driver) SetVideoEncoderRate(rate int) (err error) {
pkt := []byte{messageStart, 0x60, 0x00, 0x27, 0x68, videoEncoderRateCommand, 0x00, 0xe6, 0x01, byte(rate), 0x00, 0x00}
pkt := []byte{messageStart, 0x62, 0x00, 0x27, 0x68, videoEncoderRateCommand, 0x00, 0xe6, 0x01, byte(rate), 0x00, 0x00, 0x00}
// sets ending crc bytes for packet
l := len(pkt)
pkt[(l - 2)], pkt[(l - 1)] = CalculateCRC(pkt)
_, err = d.reqConn.Write(pkt)
return
}
// Rate does some still unknown thing.
func (d *Driver) Rate() (err error) {
pkt := []byte{messageStart, 0x58, 0x00, 0x7c, 0x48, 40, 0x00, 0xe6, 0x01, 0x6c, 0x95}
// sets ending crc bytes for packet
l := len(pkt)