Tello программирование на питоне

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Python wrapper for Tello, Tello EDU and RoboMaster TT, support SDK 2.0 and 3.0

harleylara/tello-python

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README.md

Tello Drones — Python Wrapper

• Support: Tello, Tello EDU, Robomaster TT (partially, functions for the ESP32 open-source controller not implemented)
• Support: SDK 2.0 and SDK 3.0
• High level functions
• Low level SDK commands using send_command()
• Detection of out-of-range values
• User-friendly logs

sudo python setup.py install

from tello import Tello import time # create drone object drone = Tello() # Connect drone drone.connect() # takeoff drone.takeoff() # wait 2 secs time.sleep(2) # land drone.land()

Function	Description	SDK 2.0	SDK 3.0
connect()	Initializes the connection to the drone.	✅	✅
takeoff()	Auto takeoff.	✅	✅
lan()	Auto land.	✅	✅
stream_on()	Enables video stream.	✅	✅
stream_off()	Disables video stream.	✅	✅
emergency()	Stop Motors immediately.	✅	✅
reboot()	Reboot the drone.	✅
motor_on()	Start the motors at low speed and enter in Motor-On mode	✅
motor_off()	Exit Motor-On mode.	✅
throw_and_fly()	Launch the drone horizontally within 5s right after executing this function.	✅
move_up(distance)	Ascend given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
move_down(distance)	Descend given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
move_left(distance)	Fly left given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
move_right(distance)	Fly right given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
move_forward(distance)	Fly forward given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
move_backward(distance)	Moves backward given distance. Parameters: — distance(int) in centimeters from 20 to 500	✅	✅
rotate_clockwise(angle)	Rotates clockwise given angle. Parameters: — angle(int) in degrees from 1 to 360	✅	✅
rotate_counterclockwise(angle)	Rotates counterclockwise given angle. Parameters: — angle(int) in degrees from 1 to 360	✅	✅
flip(direction)	Flip given direction. Parameters: — direction(str) can be ‘right’ , ‘left’ , ‘forward’ and ‘backward’	✅	✅
go_to(x, y, z, speed)	Fly to given coordinates 1 at given speed . Parameters: — x(int) from -500 to 500 — y(int) from -500 to 500 — z(int) from -500 to 500 — speed(int) from 10 to 100	✅	✅
joystick_control(roll, pitch, yaw, throttle)	Sends joystick control commands. Parameters: — roll(int) from -100 to 100 — pitch(int) from -100 to 100 — yaw(int) from -100 to 100 — throttle(int) from -100 to 100	✅	✅

1 coordinate system in relation to the body framw and the nose pointing forward:

Function	Description	SDK 2.0	SDK 3.0
set_speed(speed)	Set the current speed to speed in cm/s Parameters: — speed(int) from 10 to 100	✅	✅
set_wifi(ssid, password)	Change WiFi name and password Parameters: — ssid(str) WiFi name without spaces — password(str) password to connect WiFi	✅	✅
set_mission_on()	Enables mission pad. By default, downward detection is enabled	✅	✅
set_mission_off()	Disables mission pad detection.	✅	✅
set_mission_detection(direction)	Define Before use, you must use the set_mission_on() to enable the detection function Parameters: — direction(str) can be «forward» , «downward» or «both» . When either forward-looking or downward-looking detection is enabled alone, the detection frequency is 20Hz. If both enabled, detection will be performed alternatively, with a frequency of 10Hz in each direction	✅	✅
set_ap(ssid, password)	Switch Tello to «Station mode» and connect to WiFi access point Parameters: — ssid(str) WiFi SSID — password(str) password to connect WiFi	✅	✅
set_wifi_channel(channel)	Set the WiFi channel of the open-source controller. (Only for Robotmaster TT hardware)	✅
set_video_port(info, video)	Set the ports for pushing state information and video streams. Here, info is the port for pushing state information, and video is the port for pushing video streaming. The range of ports is 1025 to 65535. Parameters: — info(str) drone state port — video(str) video streaming port	✅
set_fps(fps)	Set the video stream frame rate. Parameters: — fps(str) can be «high» , «middle» , or «low» , indicating 30fps , 15fps , and 5fps , respectively	✅
set_bitrate(bitrate)	Set the video stream bit rate. Parameters: — bitrate(str) can be ‘auto’ , ‘1’ , ‘2’ , ‘3’ , ‘4’ , ‘5’ indicating 1Mbps , 2MBps , 3Mbps , 4Mbps , and 5Mbps	✅
set_resolution(resolution)	Set the video stream resolution. Parameters: — resolution(str) can be «high» or «low» , indicating 720P and 480P , respectively	✅
set_video_direction(direction)	Switch camera source for video streaming Parameters: — direction(str) can be «forward» or «downward»	✅

Function	Description	Return	SDK 2.0	SDK 3.0
get_current_set_speed()	Get current set speed (cm/s) (This is not the current speed) in a range from 10 to 100	float	✅	✅
get_battery()	Get current battery percentage in a range from 0 to 100	int	✅	✅
get_flight_time()	Get motor running time in seconds	int	✅	✅
get_wifi_snr()	Get Wi-Fi SNR (Signal to Noise Ratio)	int	✅	✅
get_sdk_version()	Get SDK version. 20 for 2.0 or 30 for 3.0	int	✅	✅
get_serial()	Get Tello serial number	str	✅	✅
get_hardware()	Get hardware type. ‘TELLO’ or ‘RMTT’ (Robomaster TT)	str	✅
get_wifi_version()	Query the -WiFi version of the open-source controller. (Only applies to ‘Robomaster TT’)	str	✅
get_ap()	Get the name and password of the current router to be connected. (Only applies to ‘Robomaster TT’)	str	✅
get_ssid()	Get the current SSID of the drone. (Only applies to ‘Robomaster TT’)	str	✅

Function	Description	Return	SDK 2.0 and 3.0
get_pad_id()	Get ID of the detected mission pad. — If the mission pad detection function is not enabled, -2 is returned. — If the detection function is enabled but no mission pad is detected, -1 is returned	int	✅
get_x() get_y() get_z()	Get the x y z coordinates respectively, relative to the detected mission pad, in centimeters. — If the mission pad detection function is not enabled, -200 is returned. — If the detection function is enabled but no mission pad is detected, -100 is returned.	int	✅
get_pad_coord()	Get list of coordinates in format [x, y, z] of the drone relative to the detected mission pad, in centimeters — If the mission pad detection function is not enabled, [-200, -200, -200] is returned. — If the detection function is enabled but no mission pad is detected, [-100, -100, -100] is returned.	list(int)	✅
get_pad_orientation()	Get list of angles in format [roll, pitch, yaw] of the drone relative to the detected mission pad, in degrees	list(int)	✅
get_pitch()	Get pitch angle in degrees (relative to the initial orientation at the moment of turn on the drone)	int	✅
get_roll()	Get roll angle in degrees (relative to the initial orientation at the moment of turn on the drone)	int	✅
get_yaw()	Get yaw angle in degrees (relative to the initial orientation at the moment of turn on the drone)	int	✅
get_orientation()	Get orientation angles in format [roll, pitch, yaw] relative to the initial orientation at the moment of turn on the drone.	list(int)	✅
get_speed_x()	Get x-axis speed in dm/s *(decimeter per second)	int	✅
get_speed_y()	Get y-axis speed in dm/s *(decimeter per second)	int	✅
get_speed_z()	Get z-axis speed in dm/s *(decimeter per second)	int	✅
get_speed()	Get list of linear velocities in format [vel_x, vel_y, vel_z] *(decimeter per second)	list(int)	✅
get_min_temp()	Get the minimum temperature of the main board in degrees celsius	int	✅
get_max_temp()	Get the maximum temperature of the main board in degrees celsius	int	✅
get_tof_distance()	Get the distance from the bottom of the drone to the ground (using the ToF sensor) in centimeter. — Measuring range is from 30 to 900 cm — If the sensor is out of range, it returns 0	int	✅
get_height()	Get drone height in cm relative to take-off point	int	✅
get_baro()	Get height detected by barometer in meters (absolute height)	float	✅
get_time()	Get motor running time in seconds	float	✅
get_acc_x()	Get x-axis acceleration cm/s2	float	✅
get_acc_y()	Get y-axis acceleration cm/s2	float	✅
get_acc_z()	Get z-axis acceleration cm/s2	float	✅
get_acceleration()	Get list of accelerations for x y and z in format [acc_x, acc_y, acc_z] cm/s2	list(float)	✅

Function	Description	SDK 2.0 and 3.0
read_frame()	Read last frame from the video streaming	✅
bgr8_to_jpeg(value)	Convert from bgr8 to jpeg	✅

Источник

DJITelloPy

DJI Tello drone python interface using the official Tello SDK and Tello EDU SDK. This library has the following features:

• implementation of all tello commands
• easily retrieve a video stream
• receive and parse state packets
• control a swarm of drones
• support for python >= 3.6

Install using pip

For Linux distributions with both python2 and python3 (e.g. Debian, Ubuntu, . ) you need to run

Install in developer mode

Using the commands below you can install the repository in an editable way. This allows you to modify the library and use the modified version as if you had installed it regularly.

git clone https://github.com/damiafuentes/DJITelloPy.git cd DJITelloPy pip install -e . 

Usage

API Reference

See djitellopy.readthedocs.io for a full reference of all classes and methods available.

Simple example

In the examples directory there are some code examples. Comments in the examples are mostly in both english and chinese.

Notes

• If you are using the streamon command and the response is Unknown command means you have to update the Tello firmware. That can be done through the Tello app.
• Mission pad detection and navigation is only supported by the Tello EDU.
• Bright environment is necessary for successful use of mission pads.
• Connecting to an existing wifi network is only supported by the Tello EDU.
• When connected to an existing wifi network video streaming is not available (TODO: needs confirmation with the new SDK3 port commands)

DJITelloPy in the media and in the wild

• >1.5 Million views Youtube: Drone Programming With Python Course
• German magazine «Make»: «KI steuert Follow-Me-Drohne» (paywall), authors notes, github repo
• Webinar on learn.droneblocks.io: «DJITelloPy Drone Coding», github repo
• Universities & Schools using DJITelloPy in projects or in class:
  • Ball State University in Muncie, Indiana
  • Technical University Kaiserslautern
  • Sha Tin College, Hong Kong
  • University of São Paulo
  • add yours.

  Authors

  License

  This project is licensed under the MIT License — see the LICENSE.txt file for details

  Источник

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