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Hey,
Been doing some work integrating with a custom server that uses node-ar-drone to connect to a parrot V1, a web based client connects to the server and can control the Parrot.
Problem is that the video stream is based on TCP, which is only for V2. For V1 it is streamed via UDP, which is initialised by sending a UDP packet to the video port on the drone. To make matters worse, the 'codecs' appear to be custom, derived from mjpeg and h.264.
Looking at the doco it appears the mjpeg would be the easiest, however I understand if you don't wish to support backward compatibility with the V1. The effort to support one of the types is kinda wasted as less and less V1 drones are around.
I might have a crack at it if I have time. I would rather not bother and work with a V2, alas I only have access to a V1 at the moment.