From 73f424cefc1984b933d1d69639cc5233e819ddb2 Mon Sep 17 00:00:00 2001
From: Nikita Kiselov <nikita.kiselov@outlook.com>
Date: Tue, 16 Mar 2021 14:08:11 +0200
Subject: [PATCH] Land/Take-off on Space key

---
 README.md |  3 +--
 main.py   | 23 ++++++++++++++++-------
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/README.md b/README.md
index 22afef5..9d5756e 100644
--- a/README.md
+++ b/README.md
@@ -110,8 +110,7 @@ The following is a list of keys and action description -
 
 * `k` -> Toggle Keyboard controls
 * `g` -> Toggle Gesture controls
-* `Left Shift` -> Take off drone #TODO
-* `Space` -> Land drone
+* `Space` -> Take off drone(if landed) **OR** Land drone(if in flight)
 * `w` -> Move forward
 * `s` -> Move back
 * `a` -> Move left
diff --git a/main.py b/main.py
index f729a19..bb48ab2 100644
--- a/main.py
+++ b/main.py
@@ -37,6 +37,7 @@ def get_args():
 
     return args
 
+
 def select_mode(key, mode):
     number = -1
     if 48 <= key <= 57:  # 0 ~ 9
@@ -49,6 +50,7 @@ def select_mode(key, mode):
         mode = 2
     return number, mode
 
+
 def main():
     # init global vars
     global gesture_buffer
@@ -59,16 +61,13 @@ def main():
     args = get_args()
     KEYBOARD_CONTROL = args.is_keyboard
     WRITE_CONTROL = False
+    in_flight = False
 
     # Camera preparation
     tello = Tello()
     tello.connect()
     tello.streamon()
 
-
-    # Take-off drone
-    tello.takeoff()
-
     cap = tello.get_frame_read()
 
     # Init Tello Controllers
@@ -107,15 +106,26 @@ def tello_battery(tello):
         key = cv.waitKey(1) & 0xff
         if key == 27:  # ESC
             break
+        elif key == 32:  # Space
+            if not in_flight:
+                # Take-off drone
+                tello.takeoff()
+                in_flight = True
+
+            elif in_flight:
+                # Land tello
+                tello.land()
+                in_flight = False
+
         elif key == ord('k'):
-            mode=0
+            mode = 0
             KEYBOARD_CONTROL = True
             WRITE_CONTROL = False
             tello.send_rc_control(0, 0, 0, 0)  # Stop moving
         elif key == ord('g'):
             KEYBOARD_CONTROL = False
         elif key == ord('n'):
-            mode=1
+            mode = 1
             WRITE_CONTROL = True
             KEYBOARD_CONTROL = True
 
@@ -124,7 +134,6 @@ def tello_battery(tello):
             if 48 <= key <= 57:  # 0 ~ 9
                 number = key - 48
 
-
         # Camera capture
         image = cap.frame