diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp
deleted file mode 100644
index 9ebb3b5..0000000
--- a/src/Djitellowhite/Djitellowhite.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include"Djitellowhite.h"
-#include<iostream>
-#include<opencv2/opencv.hpp>
-
-
-#include<stdio.h>
-#include<sys/socket.h>
-#include<string.h>
-
-#include<arpa/inet.h>
-#include<sys/types.h>
-
-using namespace cv;
-using namespace std;
-Tello::Tello(const char* IP) {
-	this->stream_on=false;
-	this->host = inet_addr(IP);
-	cout << "create successfully!" << endl;
-	
-}
-Tello::~Tello() {}
-void Tello::set_conf(int socket){
-	this->sock = socket;
-}
-void Tello::get_connect(sockaddr_in serveraddr) {
-	char tmp[10] = {"command"};
-	send_message(tmp,serveraddr,0);// 0 -> timeout
-	cout << "connect successfully!" <<endl;
-}
-unsigned long Tello::gethost(){
-	return this->host;
-}
-void Tello::takeoff(sockaddr_in serveraddr) {
-	char tmp[10] = {"takeoff"};
-	send_message(tmp,serveraddr,0);// 0 -> timeout
-	cout << "takeoff successfully!" <<endl;
-}
-void Tello::land(sockaddr_in serveraddr) {
-	char tmp[10] = {"land"};
-	send_message(tmp,serveraddr,0);// 0 -> timeout
-	cout << "land successfully!" <<endl;
-}
-
-bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
-	char buffer[BUFFER_SIZE];
-	memset(buffer,0,sizeof(buffer));
-	strcpy(buffer,msg);
-	//cout << buffer;
-	sendto(this->sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
-	return true;
-}
-void* Tello::udp_response_receiver(void* arg){
-	//int m_SockServer;            //创建socket对象           
-	//sockaddr_in serveraddr;         //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
-	//sockaddr_in serveraddrfrom;
-
-	//serveraddr.sin_family = AF_INET;             //设置服务器地址家族
-	//serveraddr.sin_port = htons(8889);           //设置服务器端口号
-	//serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
-	//m_SockServer = socket(AF_INET, SOCK_DGRAM, 0);    //创建一个临时变量并赋值给m_SockServer
-	//int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr));    //把名字和套接字绑定
-	//std::cout << "bind:" << i << std::endl;
-
-	int socket = *(int *)arg;	
-	
-	cout << "receive start" << endl;
-	while(1){
-		char buffer[20];
-		int iret;
-		memset(buffer,0,sizeof(buffer));
-		
-		iret = recv(socket, buffer,20,MSG_WAITALL);
-		if(iret > 0 && iret <10){
-			printf("Message from tello: %s\n", buffer);	
-		}
-	}
-}
-void Tello::get_video(sockaddr_in serveraddr){
-	
-	char tmp[10] = {"streamon"};
-	send_message(tmp,serveraddr,0);
-	cout << "stream_on successfully!" <<endl;
-	this->stream_on = true;
-	
-	cout << "vid";
-	VideoCapture cap("udp://@0.0.0.0:11111");
-	cout << "cap";
-	if(!cap.isOpened()){
-		cout << "fuck off";
-		return;
-	}
-
-	Mat frame;
-	cout << "continue!";
-	while(1){
-		cap>>frame;
-		if(frame.empty())
-			break;
-		imshow("video",frame);
-		waitKey(20);
-		
-	}
-	cap.release();
-	
-	
-}
diff --git a/src/Djitellowhite/Djitellowhite.h b/src/Djitellowhite/Djitellowhite.h
deleted file mode 100644
index b311e46..0000000
--- a/src/Djitellowhite/Djitellowhite.h
+++ /dev/null
@@ -1,72 +0,0 @@
-#ifndef _DJITELLOWHITE_H
-#define _DJITELLOWHITE_H
-#include<iostream>
-#include<sys/socket.h>
-#include<arpa/inet.h>
-#include<pthread.h>
-#include<cstring>
-#include<unistd.h>
-/*Library for interacting with DJI Ryze Tello drones.*/
-
-
-//coding = utf - 8
-
-/*    """C++ wrapper to interact with the Ryze Tello drone using the official Tello api.
-    Tello API documentation:
-    [1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf)
-*/
-
-#define RESPONSE_TIMEOUT 7 //in seconds
-#define TAKEOFF_TIMEOUT 20 //in seconds
-#define FRAME_GRAB_TIMEOUT 3
-#define TIME_BTW_COMMANDS 0.1 //in seconds
-#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds
-#define RETRY_COUNT 3 //number of retries after a failed command
-
-
-//Video stream, server socket
-#define VS_UDP_IP "0.0.0.0"
-#define VS_UDP_PORT 11111
-
-#define CONTROL_UDP_PORT 8889
-#define STATE_UDP_PORT 8890
-
-#define BUFFER_SIZE 1024
-//Constants for video settings
-#define BITRATE_AUTO 0
-#define BITRATE_1MBPS 1
-#define BITRATE_2MBPS 2
-#define BITRATE_3MBPS 3
-#define BITRATE_4MBPS 4
-#define BITRATE_5MBPS 5
-#define RESOLUTION_480P "low"
-#define RESOLUTION_720P "high"
-#define FPS_5 "low"
-#define FPS_15 "middle"
-#define FPS_30 "high"
-#define CAMERA_FORWARD 0
-#define CAMERA_DOWNWARD 1
-//日志模块暂时不写
-
-class Tello {
-private:
-	int sock;
-	bool stream_on;
-	unsigned long host;
-public:
-	Tello(const char* IP);
-	~Tello();
-	void set_conf(int socket);
-	unsigned long gethost();
-	void get_connect(sockaddr_in serveraddr);
-	void takeoff(sockaddr_in serveraddr);
-	void land(sockaddr_in serveraddr);
-	bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
-	static void *udp_response_receiver(void* arg);
-	void get_video(sockaddr_in serveraddr);
-};
-
-
-
-
-#endif
diff --git a/src/Djitellowhite/Hardwarelistener.h b/src/Djitellowhite/Hardwarelistener.h
deleted file mode 100644
index 176cde8..0000000
--- a/src/Djitellowhite/Hardwarelistener.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef _HARDWARELISTENER_H
-#define _HARDWARELISTENER_H
-
-int listenkeyboard();
-int scanKeyboard();
-#endif
diff --git a/src/Djitellowhite/T b/src/Djitellowhite/T
deleted file mode 100755
index b2cf1f7..0000000
Binary files a/src/Djitellowhite/T and /dev/null differ
diff --git a/src/Djitellowhite/Triplet.cpp b/src/Djitellowhite/Triplet.cpp
deleted file mode 100644
index 1456006..0000000
--- a/src/Djitellowhite/Triplet.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include"Djitellowhite.h"
-#include"Hardwarelistener.h"
-#include<iostream>
-using namespace std;
-int main(void){
-	Tello T("192.168.10.1");
-	int socket_fd, err;
-
-	if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
-	{
-		cout << "initialized error" << endl;
-		cout << 0;
-		return -1;
-	}
-	
-	//cout << 1 << socket_fd;
-	T.set_conf(socket_fd);
-	
-	pthread_t thread_receive;
-	err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
-	sleep(3);
-	struct sockaddr_in serveraddr;
-	memset(&serveraddr,0,sizeof(serveraddr));
-	serveraddr.sin_family=AF_INET;
-	serveraddr.sin_addr.s_addr=T.gethost();
-	serveraddr.sin_port=htons(CONTROL_UDP_PORT);
-	
-
-	
-	if(err!=0)
-	{
-		cout << err << " " << "can't create thread";
-	}
-	
-	T.get_connect(serveraddr);
-	//sleep(1);
-	//T.takeoff(serveraddr);
-	T.get_video(serveraddr);
-	sleep(5);
-	//T.land(serveraddr);
-	
-	pthread_join(thread_receive,NULL);
-	listenkeyboard();
-	return 0;
-}
diff --git a/src/Djitellowhite/keyboard.cpp b/src/Djitellowhite/keyboard.cpp
deleted file mode 100644
index 3006537..0000000
--- a/src/Djitellowhite/keyboard.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-#include <termio.h>
-#include <stdio.h>
-#include "Hardwarelistener.h"
-#include <iostream>
-using namespace std;
-int scanKeyboard()
-{
- 
-	int in;
- 
-	struct termios new_settings;
-	struct termios stored_settings;
-    //设置终端参数
-	tcgetattr(0,&stored_settings);
-	new_settings = stored_settings;
-	new_settings.c_lflag &= (~ICANON);
-	new_settings.c_cc[VTIME] = 0;
-	tcgetattr(0,&stored_settings);
-	new_settings.c_cc[VMIN] = 1;
-	tcsetattr(0,TCSANOW,&new_settings);
-	in = getchar();
-	tcsetattr(0,TCSANOW,&stored_settings);
- 
-	return in;
- 
-}
- 
-//测试函数
-int listenkeyboard(){
- 	while(1){
-		switch(scanKeyboard())
-		{
-			case (int)'w':
-				cout << "forward"<< endl;
-				break;
-			case (int)'s':
-				cout << "back" << endl;
-				break;
-			case (int)'a':
-				cout << "left" <<endl;
-				break;
-			case (int)'d':
-				cout << "right"<<endl;
-				break;
-		}
- 	}
- 	return 0;
-
-//	while(1){
-//		printf("%d\n",scanKeyboard());
-//	}
-}
diff --git a/src/Djitellowhite/libDjitellowhite.so b/src/Djitellowhite/libDjitellowhite.so
deleted file mode 100755
index 7a9dd78..0000000
Binary files a/src/Djitellowhite/libDjitellowhite.so and /dev/null differ
diff --git a/src/Djitellowhite/makefile b/src/Djitellowhite/makefile
deleted file mode 100644
index 156373e..0000000
--- a/src/Djitellowhite/makefile
+++ /dev/null
@@ -1,21 +0,0 @@
-obj = Djitellowhite.o keyboard.cpp Triplet.cpp
-CXXFLAGS += -c -Wall $(shell pkg-config --cflags opencv4)
-LDFLAGS += $(shell pkg-config --libs --static opencv4)
-test : $(obj)
-	$(CXX) -o test $(obj) $(LDFLAGS)
-	
-Djitellowhite.o : Djitellowhite.h 
-	$(CXX) -c Djitellowhite.cpp $(CXXFLAGS)
-	
-keyboard.o : Hardwarelistener.h
-	$(CXX) -c keyboard.cpp $(CXXFLAGS)
-	
-Triplet : Djitellowhite.h Hardwarelistener.h 
-	$(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS)
-
-.PHONY : clean
-clean :
-	rm test $(obj)
-	
-	
-
diff --git a/src/Djitellowhite/server.cpp b/src/Djitellowhite/server.cpp
deleted file mode 100644
index 581b3e7..0000000
--- a/src/Djitellowhite/server.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <errno.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <string.h>
-#define PORT 8890
-
-void udp_server(int sockfd)
-{
-
-    socklen_t len;
-    char buf[1024] = {0};
-    struct sockaddr_in server_addr;
-    int n;
-    int opt = 1;
-    len = sizeof(server_addr);
-    memset(&buf, 0, sizeof(buf));
-    server_addr.sin_family = AF_INET;
-    server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
-    server_addr.sin_port = htons(PORT);
-
-    setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));  //当服务器非正常断开的时候重启服务器，不会进入TIME_WAIT状态
-
-    if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
-        printf("can not bind\n");
-        exit(1);
-    }
-
-    while (1) {
-        printf("========wait for client's request========\n");
-        n = recvfrom(sockfd, buf, sizeof(buf), 0, (struct sockaddr *)&server_addr, &len);
-        buf[n] = '\0';
-        printf("receive client's data: %s\n", buf);
-        sendto(sockfd, buf, n, 0, (struct sockaddr *)&server_addr, len);
-        printf("send data to client: %s\n", buf);
-    }
-
-    close(sockfd);
-}
-
-int main(int argc, char **argv)
-{
-    int sockfd;
-
-    if ((sockfd = socket(PF_INET, SOCK_DGRAM, 0)) < 0) {
-        printf("create socket false\n");
-        exit(1);
-    }
-
-    udp_server(sockfd);
-
-    exit(0);
-}
-
-
diff --git a/src/Djitellowhite/test b/src/Djitellowhite/test
deleted file mode 100755
index db2feac..0000000
Binary files a/src/Djitellowhite/test and /dev/null differ