drone FORK!

dronefly.js

const pdrone = require('pdrone');
const drone = pdrone({id: 'mambo', debug: false});

var f_long = true;

/** Helper function */
function sleep(ms) {
    return new Promise(a => setTimeout(a, ms));
}

function sleepTillTact(tact_num) {
    var curr_ts = Date.now() / 1000;
    var shift = 4 * (tact_num-3);
    if (f_long) {
        shift = 4 * (tact_num-1);
    }
    var desired_ts = started_time + shift;
    var sleep_time = desired_ts - curr_ts;
    if (sleep_time <= 0) {
        sleep_time = 0.001;
    }

    return sleep(sleep_time * 1000);
}

function stop_moving(drone) {
    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 0,
        gaz: 0
    });
}

var started_time;

drone.on('connected', async () => {
try{
    // drone.flatTrim(); // use flatTrim() everytime you want the drone to calm down
    drone.takeOff();
    await sleep(1000);

    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 0,
        gaz: 50
    });

    await sleep(1000);
    stop_moving(drone);
    await sleep(1000);

    drone.flip({direction: 'front'});
    await sleep(1000); // before-tact, 1 sec
    started_time = (Date.now() / 1000);
    
    if (f_long) {
        await sleepTillTact(3);
        drone.flip({direction: 'back'});

        await sleepTillTact(4);
        drone.flip({direction: 'front'});
    }

    await sleepTillTact(4.5);
    drone.flip({direction: 'front'});

    await sleepTillTact(5);
    drone.fly({
        roll: 100,
        pitch: 0,
        yaw: 0,
        gaz: 25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(6);
    drone.fly({
        roll: -100,
        pitch: 0,
        yaw: 0,
        gaz: 0
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(7);
    drone.fly({
        roll: 0,
        pitch: 100,
        yaw: 0,
        gaz: 0
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(8);
    drone.fly({
        roll: 0,
        pitch: -100,
        yaw: 0,
        gaz: 0
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(9);
    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 100,
        gaz: 50
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(10);
    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 100,
        gaz: 50
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(11);
    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 100,
        gaz: -50
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(12);
    drone.fly({
        roll: 0,
        pitch: 0,
        yaw: 100,
        gaz: -25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(13);
    drone.fly({
        roll: 100,
        pitch: 0,
        yaw: 0,
        gaz: 25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(13.5);
    drone.flip({direction: 'left'});

    await sleepTillTact(14);
    drone.fly({
        roll: -100,
        pitch: 0,
        yaw: 0,
        gaz: -25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(15);
    drone.fly({
        roll: -100,
        pitch: 0,
        yaw: 0,
        gaz: 25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(15.5);
    drone.flip({direction: 'right'});

    await sleepTillTact(16);
    drone.fly({
        roll: 100,
        pitch: 0,
        yaw: 0,
        gaz: -25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(16.5);
    drone.flip({direction: 'front'});

if (f_long) {

    // basic position

    await sleepTillTact(17);
    drone.fly({
        roll: 100,
        pitch: 0,
        yaw: 25,
        gaz: 25
    });

    await sleep(1000);
    stop_moving(drone);

    await sleepTillTact(18);
    drone.fly({
        roll: -100,
        pitch: 0,
        yaw: -25,
        gaz: -25
    });

    await sleep(1000);
    stop_moving(drone);  

    await sleepTillTact(19);
    drone.fly({
        roll: -100,
        pitch: 0,
        yaw: -25,
        gaz: 25
    });

    await sleep(1000);
    stop_moving(drone);  

    await sleepTillTact(20);
    drone.fly({
        roll: 100,
        pitch: 0,
        yaw: 25,
        gaz: 0
    });

    await sleep(1000);
    stop_moving(drone);  

    // basic position
}

    await sleep(1000);
    drone.flip({direction: 'front'});

    await sleep(1000);
    drone.land();
    await sleep(1000);
    drone.emergency(); // immediately stops the drone, that's what is inside stop.js
    await sleep(1000);
} catch (e) {
    console.log(e);
}
    process.exit();
});