Video almost tested and works well both on Drone1 & Drone2. Teleop not working.

src/ardrone_driver.cpp

@@ -84,7 +84,7 @@ void ARDroneDriver::run()
 				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (enemy_without_shell, &detect_indoor_hull, NULL);
 			}
 		}
-		if (true) //(current_frame_id != last_frame_id)
+		if (current_frame_id != last_frame_id)
 		{
 			publish_video();
 			publish_navdata();

src/video.cpp

@@ -14,15 +14,9 @@ extern "C" C_RESULT export_stage_open( void *cfg, vp_api_io_data_t *in, vp_api_i
 extern "C" C_RESULT export_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
 {
 //    PRINT("In Transform before copy\n");
-        printf("The size of buffer is %d\n", in->size);
-//    vp_os_mutex_lock(&video_update_lock);
-//    /* Get a reference to the last decoded picture */
-//    pixbuf_data      = (uint8_t*)in->buffers[0];
-//    /* Copy the entire buffer, TODO: can we movet this to the thread to make the transform faster?*/
+//        printf("The size of buffer is %d\n", in->size);
 	memcpy(buffer, in->buffers[0], in->size);
-//    //memcpy(buffer, in->buffers[0], in->size);
 //    vp_os_mutex_unlock(&video_update_lock);
-//    PRINT("In Transform after copy\n");
 	current_frame_id++;
  	return (SUCCESS);
 }