我是一名初学者,正在学习对名为 Tello 的无人机进行编程。我开发了代码,允许无人机从着陆场起飞并沿着方形路径飞行。但是,我面临一个问题。无人机没有降落在停机坪上。它稍微向前着陆,例如 80 - 100 厘米。
以下是tello.py
文件的代码:
# This code is adopted from https://learn.droneblocks.io/p/tello-drone-programming-with-python/
# Import the necessary modules
import socket
import threading
import time
class Tello():
def __init__(self):
# IP and port of Tello
self.tello_address = ('192.168.10.1', 8889)
# IP and port of local computer
self.local_address = ('', 9000)
# Create a UDP connection that we'll send the command to
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# Bind to the local address and port
self.sock.bind(self.local_address)
# Create and start a listening thread that runs in the background
# This utilizes our receive functions and will continuously monitor for incoming messages
self.receiveThread = threading.Thread(target=self.receive)
self.receiveThread.daemon = True
self.receiveThread.start()
# Send the message to Tello and allow for a delay in seconds
def send(self, message, delay):
# Try to send the message otherwise print the exception
try:
self.sock.sendto(message.encode(), self.tello_address)
print("Sending message: " + message)
except Exception as e:
print("Error sending: " + str(e))
# Delay for a user-defined period of time
time.sleep(delay)
# Receive the message from Tello
def receive(self):
# Continuously loop and listen for incoming messages
while True:
# Try to receive the message otherwise print the exception
try:
response, ip_address = self.sock.recvfrom(128)
print("Received message: " + response.decode(encoding='utf-8'))
except Exception as e:
# If there's an error close the socket and break out of the loop
self.sock.close()
print("Error receiving: " + str(e))
break
以下是CustomFlight.py
文件的代码:
import tello
# Billy
billy = tello.Tello()
# Each leg of the box will be 100 cm. Tello uses cm units by default.
box_leg_distance = 100
# Yaw 90 degrees
yaw_angle = 90
# Yaw clockwise (right)
yaw_direction = "ccw"
# Put Tello into command mode
billy.send("command", 3)
# Send the takeoff command
billy.send("takeoff", 5)
# Fly in the squared path
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
# Send the land command
billy.send("land ", 4)
# Print message
print("Mission completed successfully!")
# Close the socket
billy.sock.close()
#飞向方路
的代码有问题吗?
无人机应该从停机坪起飞并降落在停机坪上。但它并没有降落在那里。
如何解决这个问题?
最佳答案
看看你的无人机前进和旋转了多少次。已经做了五次了因此,你的无人机在一个正方形中飞行,然后再向前飞行另一个正方形长度。
只需删除以下 block 之一:
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
关于python - Tello 无人机在遵循方形路径后未降落在停机坪上,我们在Stack Overflow上找到一个类似的问题: https://stackoverflow.com/questions/59296579/