from djitellopy import Tello import cv2 import pygame import numpy as np import time # Speed of the drone S = 60 # Frames per second of the pygame window display # A low number also results in input lag, as input information is processed once per frame. FPS = 120 class FrontEnd(object): """ Maintains the Tello display and moves it through the keyboard keys. Press escape key to quit. The controls are: - T: Takeoff - L: Land - Arrow keys: Forward, backward, left and right. - A and D: Counter clockwise and clockwise rotations (yaw) - W and S: Up and down. """ def __init__(self): # Init pygame pygame.init() # Creat pygame window pygame.display.set_caption("Tello video stream") self.screen = pygame.display.set_mode([960, 720]) # Init Tello object that interacts with the Tello drone self.tello = Tello() # Drone velocities between -100~100 self.for_back_velocity = 0 self.left_right_velocity = 0 self.up_down_velocity = 0 self.yaw_velocity = 0 self.speed = 10 self.send_rc_control = False # create update timer pygame.time.set_timer(pygame.USEREVENT + 1, 1000 // FPS) def run(self): self.tello.connect() self.tello.set_speed(self.speed) # In case streaming is on. This happens when we quit this program without the escape key. self.tello.streamoff() self.tello.streamon() frame_read = self.tello.get_frame_read() should_stop = False while not should_stop: for event in pygame.event.get(): if event.type == pygame.USEREVENT + 1: self.update() elif event.type == pygame.QUIT: should_stop = True elif event.type == pygame.KEYDOWN: if event.key == pygame.K_ESCAPE: should_stop = True else: self.keydown(event.key) elif event.type == pygame.KEYUP: self.keyup(event.key) if frame_read.stopped: break self.screen.fill([0, 0, 0]) frame = frame_read.frame text = "Battery: {}%".format(self.tello.get_battery()) cv2.putText(frame, text, (5, 720 - 5), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2) frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) frame = np.rot90(frame) frame = np.flipud(frame) frame = pygame.surfarray.make_surface(frame) self.screen.blit(frame, (0, 0)) pygame.display.update() time.sleep(1 / FPS) # Call it always before finishing. To deallocate resources. self.tello.end() def keydown(self, key): """ Update velocities based on key pressed Arguments: key: pygame key """ if key == pygame.K_UP: # set forward velocity self.for_back_velocity = S elif key == pygame.K_DOWN: # set backward velocity self.for_back_velocity = -S elif key == pygame.K_LEFT: # set left velocity self.left_right_velocity = -S elif key == pygame.K_RIGHT: # set right velocity self.left_right_velocity = S elif key == pygame.K_w: # set up velocity self.up_down_velocity = S elif key == pygame.K_s: # set down velocity self.up_down_velocity = -S elif key == pygame.K_a: # set yaw counter clockwise velocity self.yaw_velocity = -S elif key == pygame.K_d: # set yaw clockwise velocity self.yaw_velocity = S def keyup(self, key): """ Update velocities based on key released Arguments: key: pygame key """ if key == pygame.K_UP or key == pygame.K_DOWN: # set zero forward/backward velocity self.for_back_velocity = 0 elif key == pygame.K_LEFT or key == pygame.K_RIGHT: # set zero left/right velocity self.left_right_velocity = 0 elif key == pygame.K_w or key == pygame.K_s: # set zero up/down velocity self.up_down_velocity = 0 elif key == pygame.K_a or key == pygame.K_d: # set zero yaw velocity self.yaw_velocity = 0 elif key == pygame.K_t: # takeoff self.tello.takeoff() self.send_rc_control = True elif key == pygame.K_l: # land not self.tello.land() self.send_rc_control = False def update(self): """ Update routine. Send velocities to Tello.""" if self.send_rc_control: self.tello.send_rc_control(self.left_right_velocity, self.for_back_velocity, self.up_down_velocity, self.yaw_velocity) def main(): frontend = FrontEnd() # run frontend frontend.run() if __name__ == '__main__': main()