message: Un-commented image-sending code
diff: static const char * HOST = "127.0.0.1"; // localhost
  static uint16_t MOTOR_PORT = 5000;
  static uint16_t TELEM_PORT = 5001;
  -// static uint16_t IMAGE_PORT = 5002;
  +static uint16_t IMAGE_PORT = 5002;
  // Image size
  -// static uint16_t IMAGE_ROWS = 480;
  -// static uint16_t IMAGE_COLS = 640;
  +static uint16_t IMAGE_ROWS = 480;
  +static uint16_t IMAGE_COLS = 640;
  // Time constant
  static const double DELTA_T = 0.001;
  @@ -45,7 +45,7 @@ static const uint16_t maxrpm = 15000;
  int main(int argc, char ** argv)
  {
  // Allocate image bytes (rows * cols * rgba)
  - // uint8_t image[IMAGE_ROWS * IMAGE_COLS * 4];
  + uint8_t image[IMAGE_ROWS * IMAGE_COLS * 4];
  // Loop forever, waiting for clients
  while (true) {
  @@ -54,7 +54,7 @@ int main(int argc, char ** argv)
  TwoWayUdp twoWayUdp = TwoWayUdp(HOST, TELEM_PORT, MOTOR_PORT);
  // Create one-way server for images out
  - // UdpServerSocket imageServer = UdpServerSocket(IMAGE_PORT);
  + UdpServerSocket imageServer = UdpServerSocket(IMAGE_PORT);
  // Create quadcopter dynamics model
  QuadXAPDynamics dynamics = QuadXAPDynamics(b, d, m, Ix, Iy, Iz, Jr, l, maxrpm);
  @@ -80,7 +80,7 @@ int main(int argc, char ** argv)
  twoWayUdp.send(telemetry, sizeof(telemetry));
  // Send image data
  - // imageServer.sendData(image, sizeof(image));
  + imageServer.sendData(image, sizeof(image));
  // Get incoming motor values
  double motorvals[4] = {};
  