send("AT*PCMD=" + (seq++) + ",0,0,0,0,0");
Thread.sleep(INTERVAL);
send("AT*REF=" + (seq++) + ",290717696");
send("AT*REF=" + (seq++) + ",290717696");
Thread.sleep(INTERVAL);

    				if (angle_current < angle_final & angle_final > 0 & angle_current < 0 ){
    					
    					yaw=false;
    					
    					send("AT*PCMD=" + (seq++) + ",0,0,0,0,0");
    					Thread.sleep(INTERVAL);
    					
    				}

    				if (angle_final > 0 & angle_current < 0 & angle_current < angle_start){
    					
    					yaw=false;
    					
    					send("AT*PCMD=" + (seq++) + ",0,0,0,0,0");
    					Thread.sleep(INTERVAL);
    					
    				}

import java.awt.Frame;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.util.StringTokenizer;



public class Test1 extends Frame implements KeyListener{

    static final int AT_PORT 	  = 5556;

    
    static InetAddress inet_addr;
    
     
    static int seq = 1; //Send AT command with sequence number 1 will reset the counter


    boolean space_bar = false; //true = Takeoff, false = Landing
    
    
    static DatagramSocket socket_at;

    
    
    public Test1(String name, String args[], InetAddress inet_addr) throws Exception {
        super(name);
        //System.out.println("Speed: " + speed); 
    	addKeyListener(this);                  
    	setSize(320, 160);
    	setVisible(true);
    	addWindowListener(new WindowAdapter() {
    	    public void windowClosing(WindowEvent e) {
    		System.exit(0);
    	    }
      	});
        
    }
    
    public static void main(String[] args) throws Exception{
    	
    	// Создаем значение для переменной ip_addr        
    	String ip = "192.168.1.1";
    	StringTokenizer st = new StringTokenizer(ip, ".");
    	byte[] ip_bytes = new byte[4];
    	if (st.countTokens() == 4){
     	    for (int i = 0; i < 4; i++){
    		ip_bytes[i] = (byte)Integer.parseInt(st.nextToken());
    	    }
    	}
       inet_addr = InetAddress.getByAddress(ip_bytes);
        
    	
    	
    	socket_at = new DatagramSocket(AT_PORT);
    	socket_at.setSoTimeout(3000);
    	
    	Test1 ardrone = new Test1("ARDrone", args, inet_addr); 
    	
    	while(true) {
    		Thread.sleep(30);
    	}
    }


    
    public static void send(String msg) throws Exception {
    	byte[] bytes = (msg + "\r").getBytes();
    	DatagramPacket ds = new DatagramPacket(bytes, bytes.length, inet_addr, AT_PORT);
    	
    	socket_at.send(ds);
    }
    
 
    
    public static synchronized int get_seq() {
    	return seq++;
    }
    
    
    public void keyTyped(KeyEvent e) {
        ;
    }
    
    public void keyPressed(KeyEvent e) {
        int keyCode = e.getKeyCode();

        try {
            control(keyCode);
        } catch (Exception ex) {
            ex.printStackTrace();
        }
    }
    
    public void keyReleased(KeyEvent e) {
        ;
        //if (keyCode >= KeyEvent.VK_1 && keyCode <= KeyEvent.VK_9) speed = (float)0.1; //Reset speed
        
    }
    
    //Control AR.Drone via AT commands per key code
    public void control(int keyCode) throws Exception {
   	
    	switch (keyCode) {

    	    case KeyEvent.VK_SPACE:
    	    	// Операция  Не равно "= !"
    	    	space_bar = !space_bar;

   	    	if (space_bar) {  
    	    	    System.out.println("Takeoff");
    	    	    send("AT*CONFIG=" + get_seq() + ",\"leds:leds_anim\",\"3,1073741824,2\"");  
    	    	    //send("AT*REF=" + get_seq() + ",290718208");
   		} else {
    	    	    System.out.println("Landing");
    	    	    send("AT*CONFIG=" + get_seq() + ",\"leds:leds_anim\",\"5,1073741824,2\"");  
    	    	    //send("AT*REF=" + get_seq() + ",290717696");
    		}

    	    	break;   	    			    		

    	    default:
    	    	break;
    	}
    	
    }
    
  
    
}