First Version (#1)

Co-authored-by: Anujith Muraleedharan <140189296+AnujithM@users.noreply.github.com>

example_exercises/10_throw_takeoff.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+
+import time
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Get ready to throw in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+print("Throw the drone within 5 seconds!")
+tello.initiate_throw_takeoff()
+
+for i in range(5, 0, -1):
+    print(i)
+    time.sleep(1)
+
+print("Waiting for...")
+for i in range(10, 0, -1):
+    print(i)
+    time.sleep(1)
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/11_emergency_stop.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+import time
+
+from tello_sim.tello_sim_client import TelloSimClient
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+
+for i in range(10, 0, -1):
+    print("Get Ready to catch drone!")
+    print("Emergency  stop in", i)
+    time.sleep(1)
+
+print("Emergency stop now!")
+# Land
+tello.emergency()
+
+# End the connection
+tello.end()

example_exercises/12_flips.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+
+import time
+
+ROTATION_DEGREES = 90
+HIGHT_CM = 100 
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+
+def pause():
+    print("Hovering for...")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+
+
+def warn_of_flip(direction: str):
+    print("WARNING!")
+    print(f"Flipping {direction} in ...")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+    flip_func = getattr(tello, f"flip_{direction}")
+    flip_func()
+
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+tello.move_up(HIGHT_CM)
+
+warn_of_flip("left")
+
+warn_of_flip("right")
+
+warn_of_flip("forward")
+
+warn_of_flip("back")
+
+pause()
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/13_rc_movement.py

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+from typing import Callable
+from tello_sim.tello_sim_client import TelloSimClient
+
+
+import time
+
+SPEED_SETTING_CM_S = 30
+MOVEMENT_MAGNITUDE = 30
+TIME_PER_ACTION_SECS = 3
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+print("Setting speed to", SPEED_SETTING_CM_S)
+tello.set_speed(SPEED_SETTING_CM_S)
+
+
+def do_action_for_time(label: str, action: Callable, time_in_seconds: int):
+    print(label)
+    action()
+    time.sleep(time_in_seconds)
+
+
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Staying still",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move forward
+left_right_velocity = 0
+forward_backward_velocity = MOVEMENT_MAGNITUDE
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving Forward",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Backwards
+left_right_velocity = 0
+forward_backward_velocity = -MOVEMENT_MAGNITUDE
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving backwards",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+
+# Move Left
+left_right_velocity = MOVEMENT_MAGNITUDE
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving left",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Right
+left_right_velocity = -MOVEMENT_MAGNITUDE
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving right",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Up
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = MOVEMENT_MAGNITUDE
+yaw_velocity = 0
+do_action_for_time(
+    "Moving up",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move down
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = -MOVEMENT_MAGNITUDE
+yaw_velocity = 0
+do_action_for_time(
+    "Moving down",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Turn Left
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = MOVEMENT_MAGNITUDE
+do_action_for_time(
+    "Turning left",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Turn Right
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = -MOVEMENT_MAGNITUDE
+do_action_for_time(
+    "Turning right",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/14_speed.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+import time
+
+TEST_DISTANCE = 500
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+def pause(next_action: str):
+    print(f"Hovering before {next_action}")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+pause("ascending")
+tello.move_up(100)
+
+for speed in range(10, 101, 10):
+    pause(f"speed change to {speed} cm/s")
+    print("Setting speed to", speed, "cm/s")
+    tello.set_speed(speed)
+    print(f"Testing forward and back at {speed} cm/s")
+    tello.move_forward(1000)
+    tello.move_back(TEST_DISTANCE)
+    time.sleep(1)
+
+pause("landing")
+print("Finished Landing")
+tello.land()

example_exercises/1_check_import.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+
+print(TelloSimClient)
+
+print("Tello import works fine")

example_exercises/2_simple_takeoff_land.py

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+
+import time
+
+from tello_sim.tello_sim_client import TelloSimClient
+
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+print("Attempting to connect to drone ...")
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+print("Hovering for...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/3_drone_information.py

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+
+import time
+
+from tello_sim.tello_sim_client import TelloSimClient
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Get some information from the drone")
+
+# Print battery capacity
+battery_capacity = tello.get_battery()
+print("Battery Capacity:", battery_capacity, "%")
+
+
+
+
+
+# Print distance from time-of-flight sensor
+print("Distance (TOF):", tello.get_distance_tof(), "cm")
+
+# Print height
+print("Height:", tello.get_height(), "cm")
+
+# Print flight time
+print("Flight Time:", tello.get_flight_time(), "seconds")
+
+# Print speed in the x, y, z directions
+print("Speed X:", tello.get_speed_x(), "cm/s")
+print("Speed Y:", tello.get_speed_y(), "cm/s")
+print("Speed Z:", tello.get_speed_z(), "cm/s")
+
+# Print acceleration in the x, y, z directions
+print("Acceleration X:", tello.get_acceleration_x(), "cm/s²")
+print("Acceleration Y:", tello.get_acceleration_y(), "cm/s²")
+print("Acceleration Z:", tello.get_acceleration_z(), "cm/s²")
+
+
+
+print("Pitch", tello.get_pitch(), "degrees")
+
+print("Roll", tello.get_roll(), "degrees")
+
+print("Yaw", tello.get_yaw(), "degrees")
+
+print("IMU data", tello.query_attitude())
+
+
+print("State", tello.get_current_state())

example_exercises/4_camera_sanity_check.py

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+from tello_sim.tello_sim_client import TelloSimClient
+import cv2
+
+# Create a Tello instance
+tello = TelloSimClient()
+# Desired window size
+WINDOW_WIDTH = 640
+WINDOW_HEIGHT = 360
+# Connect to Tello
+tello.connect()
+
+tello.streamon()
+
+# Create a normal, resizable window
+cv2.namedWindow("frame", cv2.WINDOW_NORMAL)
+cv2.resizeWindow("frame", WINDOW_WIDTH, WINDOW_HEIGHT)
+
+try:
+    while True:
+        img = tello.get_frame_read().frame
+        if img is not None:
+            img_bgr = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
+            # Resize the image to fit the window size
+            img_resized = cv2.resize(img_bgr, (WINDOW_WIDTH, WINDOW_HEIGHT), interpolation=cv2.INTER_AREA)
+            cv2.imshow("frame", img_resized)
+        if cv2.waitKey(1) == ord('q'):
+            break
+except KeyboardInterrupt:
+    pass
+finally:
+    print("fin")
+    cv2.destroyAllWindows()

example_exercises/5_take_a_picture.py

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+import os
+import cv2
+import time
+import numpy as np
+from tello_sim.tello_sim_client import TelloSimClient
+
+# Initialize and connect
+tello = TelloSimClient()
+tello.connect()
+tello.streamon()
+
+# Takeoff
+tello.takeoff()
+time.sleep(5)  # Let drone stabilize after takeoff
+
+# Get frame object
+frame_read = tello.get_frame_read()
+
+tello.streamoff()
+
+# Prepare directory to save
+script_dir = os.path.dirname(__file__)
+artifact_folder_path = os.path.join(script_dir, "../../artifacts/images")
+os.makedirs(artifact_folder_path, exist_ok=True)
+
+# Save the frame
+save_path = os.path.join(artifact_folder_path, "picture.png")
+cv2.imwrite(save_path, np.array(frame_read.frame))
+
+# Land
+tello.land()

example_exercises/6_record_video.py

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+import os
+from threading import Thread
+import time
+from typing import cast
+from tello_sim.tello_sim_client import TelloSimClient
+
+import cv2
+
+# Configuration
+FPS = 30
+
+# Initialize Tello connector
+tello = TelloSimClient()
+tello.connect()
+
+tello.streamon()
+time.sleep(2)
+# Define paths to save inside tello_recording
+recording_folder = os.path.join(os.getcwd(), "output", "tello_recording")
+images_folder_path = os.path.join(recording_folder, "frames")
+video_file_path = os.path.join(recording_folder, "video.mp4")
+os.makedirs(images_folder_path, exist_ok=True)
+
+# Recording control
+keep_recording = True
+
+
+def capture_images():
+    frame_count = 0
+    while keep_recording:
+        frame = tello.get_frame_read().frame
+        if frame is not None:
+            image_file_path = os.path.join(images_folder_path, f"frame_{frame_count:04d}.jpg")
+            cv2.imwrite(image_file_path, cv2.cvtColor(frame, cv2.COLOR_RGB2BGR))
+            frame_count += 1
+            print(f"[Capture] Saved frame {frame_count}")
+        else:
+            print("[Capture] No frame received.")
+        time.sleep(1 / FPS)
+
+    print("[Capture] Finished capturing frames.")
+
+
+# Start recording thread
+recorder_thread = Thread(target=capture_images)
+recorder_thread.start()
+
+# Drone mission
+tello.takeoff()
+time.sleep(5)
+tello.move_up(50)
+time.sleep(5)
+tello.rotate_counter_clockwise(360)
+time.sleep(5)
+tello.land()
+
+# Stop recording
+keep_recording = False
+recorder_thread.join()
+
+# Create video from frames
+frame_files = sorted(os.listdir(images_folder_path))
+if frame_files:
+    first_frame = cv2.imread(os.path.join(images_folder_path, frame_files[0]))
+    height, width, _ = first_frame.shape
+
+    video_writer = cv2.VideoWriter(
+        video_file_path, cv2.VideoWriter_fourcc(*"mp4v"), FPS, (width, height) # type: ignore
+    )
+
+    for frame_file in frame_files:
+        frame_path = os.path.join(images_folder_path, frame_file)
+        frame = cv2.imread(frame_path)
+        video_writer.write(frame)
+
+    video_writer.release()
+    print(f"[Video] Video saved at {video_file_path}")
+else:
+    print("[Video] No frames captured. Video not created.")
+
+print("Finished creating video")
+tello.streamoff()

example_exercises/7_movement.py

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+from tello_sim.tello_sim_client import TelloSimClient
+
+import time
+
+MOVEMENT_DISTANCE_CM = 70
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+
+def pause(next_action: str):
+    print(f"Hovering before {next_action}")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+
+
+pause("forward")
+print(f"Moving forward {MOVEMENT_DISTANCE_CM}cm")
+tello.move_forward(MOVEMENT_DISTANCE_CM)
+
+pause("backwards")
+print(f"Moving backwards {MOVEMENT_DISTANCE_CM}cm")
+tello.move_back(MOVEMENT_DISTANCE_CM)
+
+pause("left")
+print(f"Moving left {MOVEMENT_DISTANCE_CM}cm")
+tello.move_left(MOVEMENT_DISTANCE_CM)
+
+pause("right")
+print(f"Moving right {MOVEMENT_DISTANCE_CM}cm")
+tello.move_right(MOVEMENT_DISTANCE_CM)
+
+pause("up")
+print(f"Moving up {MOVEMENT_DISTANCE_CM}cm")
+tello.move_up(MOVEMENT_DISTANCE_CM)
+
+pause("down")
+print(f"Moving down {MOVEMENT_DISTANCE_CM}cm")
+tello.move_down(MOVEMENT_DISTANCE_CM)
+
+pause("landing")
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/8_rotate.py

@@ -0,0 +1,47 @@
+from tello_sim.tello_sim_client import TelloSimClient
+
+import time
+
+ROTATION_DEGREES = 180
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+
+def pause():
+    print("Hovering for...")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+pause()
+
+print(f"Rotating clockwise {ROTATION_DEGREES} degrees")
+tello.rotate_clockwise(ROTATION_DEGREES)
+
+pause()
+
+print(f"Rotating counter clockwise {ROTATION_DEGREES} degrees")
+tello.rotate_counter_clockwise(ROTATION_DEGREES)
+
+pause()
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/9_advanced_movement.py

@@ -0,0 +1,61 @@
+# Not verified working on normal Tello!
+
+from tello_sim.tello_sim_client import TelloSimClient
+
+
+import time
+
+ROTATION_DEGREES = 90
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+
+def pause():
+    print("Hovering for...")
+    for i in range(3, 0, -1):
+        print(i)
+        time.sleep(1)
+
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+pause()
+
+tello.curve_xyz_speed(100, 0, 0, 200, 200, 0, 20)
+tello.wait_until_motion_complete()# Use this instead of pause for longer duration curve_xyz_speed/go_xyz_speed,to prevent break in animation.
+#tello.go_xyz_speed(100, 0, 0, 10)
+#tello.wait_until_motion_complete() 
+# Should go backwards 1m at 10 cm/s
+#tello.go_xyz_speed(-100, 0, 0, 10)
+
+# Should go forward  and up at 10 cm/s
+# tello.go_xyz_speed(10, 10, 10, 10)
+# Should go backward left and up at 10 cm/s
+# tello.go_xyz_speed(-80, 10, 10, 20)
+
+
+#pause()
+
+# Should go forward to the right and up at with rotations 10 cm/s
+# tello.curve_xyz_speed(10, 10, 10, 20, 20, 120, 10)
+#tello.curve_xyz_speed(40, 10, 140, -200, 80, 40, 20)
+
+
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()

example_exercises/README.md

@@ -0,0 +1,9 @@
+# Example Exercises
+
+This folder contains a collection of sample scripts and exercises designed to help you get started with and understand the functionality of the DJI Tello playground. These examples demonstrate how to use various components of the project—from basic drone commands to more advanced features like computer vision integrations.
+
+Make sure to always execute the scripts from the `src` directory to ensure proper module imports and file references.
+
+The numbered exercises are ordered from basic to advanced, with each script building upon the concepts introduced in the previous ones. Feel free to explore and modify the scripts to suit your needs or experiment with new ideas.
+
+The other scripts are more advaned and demonstrate additional capabilities of the Tello drone, such as face tracking, object detection, and autonomous flight.

example_exercises/navigate_route.py

@@ -0,0 +1,38 @@
+"Here try to create a script that navigates the drone through a course."
+from tello_sim.tello_sim_client import TelloSimClient
+
+import time
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(10, 0, -1):
+    print(i)
+    time.sleep(1)
+
+
+# Takeoff
+tello.takeoff()
+
+# Here change the commands to navigate though the course
+
+# # Go forward 100 cm
+tello.move_forward(100)
+
+# # Turn right
+# tello.rotate_clockwise(90)
+
+# # Go forward 150 cm
+# tello.move_forward(150)
+
+#####
+
+# Land
+tello.land()
+
+# End the connection
+tello.end()