add KI

drone_pilot/__init__.py

@@ -0,0 +1 @@
+# Init for drone_pilot package

drone_pilot/config.py

@@ -0,0 +1,28 @@
+# drone_pilot/config.py
+class Config:
+    WIN_NAME = "Tello AI Pilot v2.0 (High Speed)"
+    WIDTH, HEIGHT = 1024, 720
+    
+    TARGET_ALTITUDE = 1.5
+    TARGET_FACE_SIZE = 180
+    TARGET_PERSON_SIZE = 400
+    ALT_THRESHOLD = 0.12
+    
+    YAW_GAIN = 0.12          # Reduced for smoother rotation
+    FORWARD_GAIN = 1.5        # Kept high for fast pursuit
+    ALT_GAIN = 40
+    
+    DEPTH_THRESHOLD = 0.90
+    OBSTACLE_TOF_CM = 70
+    FACE_DEADZONE = 30        # Slightly larger deadzone for stability
+    FACE_ROT_ONLY = 100
+    PERSON_CONF_THRESHOLD = 0.5
+    SMOOTHING_ALPHA = 0.35    # High directness, but slightly more damped than extreme
+
+class Colors:
+    GREEN = (0, 255, 0)
+    RED = (0, 0, 255)
+    BLUE = (255, 0, 0)
+    WHITE = (255, 255, 255)
+    BLACK = (0, 0, 0)
+    HUD_BG = (10, 10, 10)

drone_pilot/flight.py

@@ -0,0 +1,126 @@
+import time
+import numpy as np
+from typing import List, Tuple, Dict
+from .config import Config
+
+class FlightController:
+    def __init__(self):
+        self.last_sent_rc = [0, 0, 0, 0]
+        self.smooth_face = None
+        self.search_start = time.time()
+        self.status = "INITIALIZING"
+        
+        # Memory for lost targets
+        self.last_target_side = 0 # -1 for left, 1 for right
+        self.lost_time = 0
+
+    def calculate(self, 
+                  faces: List[Tuple], 
+                  is_manual: bool, 
+                  emergency_stop: bool, 
+                  is_locked: bool, 
+                  locked_person: Tuple,
+                  current_height: float, 
+                  target_altitude: float,
+                  tof: int, 
+                  zones: Dict[str, bool], 
+                  zone_scores: Dict[str, float],
+                  manual_rc: Tuple[int, int, int, int]) -> Tuple[Tuple[int, int, int, int], str]:
+        
+        lr, fb, ud, yv = 0, 0, 0, 0
+        
+        # Face smoothing for UI/Visuals
+        if len(faces) > 0:
+            target = max(faces, key=lambda f: f[2] * f[3])
+            if self.smooth_face is None: self.smooth_face = target
+            else:
+                self.smooth_face = tuple(int(self.smooth_face[i]*0.8 + target[i]*0.2) for i in range(4))
+        else:
+            self.smooth_face = None
+
+        if emergency_stop:
+            self.status = "EMERGENCY STOP"
+            return (0, 0, 0, 0), self.status
+
+        # Obstacle Avoidance (always active if flying)
+        center_blocked = zones["CENTER"] or tof < Config.OBSTACLE_TOF_CM
+        if center_blocked:
+            self.status = "AVOIDING OBSTACLE"
+            yv = 80 if zone_scores["LEFT"] < zone_scores["RIGHT"] else -80
+            fb = -30
+            return self._smooth(lr, fb, ud, yv)
+
+        if is_manual:
+            self.status = "MANUAL CONTROL"
+            lr, fb, m_ud, yv = manual_rc
+            if abs(m_ud) > 0: ud = m_ud
+            return self._smooth(lr, fb, ud, yv)
+
+        # AI LOGIC
+        if is_locked:
+            if locked_person is not None:
+                # Target is visible -> Normal Pursuit
+                self.search_start = time.time()
+                self.lost_time = 0
+                (x, y, w, h) = locked_person
+                center_x = x + w // 2
+                err_x = center_x - (Config.WIDTH // 2)
+                
+                # Remember which side it was on
+                self.last_target_side = 1 if err_x > 0 else -1
+                
+                # Rotation (Yaw) - FULL SPEED CAPABLE
+                if abs(err_x) > Config.FACE_DEADZONE:
+                    yv = int(np.clip(Config.YAW_GAIN * err_x, -100, 100))
+                
+                # Forward/Backward pursuit - EXTREME SPEED
+                alignment_factor = max(0.4, 1.0 - (abs(err_x) / Config.FACE_ROT_ONLY))
+                target_fb = int(np.clip(Config.FORWARD_GAIN * (Config.TARGET_PERSON_SIZE - w), -90, 90))
+                fb = int(target_fb * alignment_factor)
+                
+                self.status = "PURSUIT: EXTREME"
+            else:
+                # Target is LOST -> Rapid Search logic
+                if self.lost_time == 0: self.lost_time = time.time()
+                elapsed = time.time() - self.lost_time
+                
+                if elapsed < 10.0: # Search longer and faster
+                    yv = 80 * self.last_target_side 
+                    self.status = f"LOST TARGET: RAPID SCAN {'RIGHT' if self.last_target_side > 0 else 'LEFT'}"
+                else:
+                    self.status = "TARGET LOST: AGGRESSIVE PATROL"
+                    yv = 60
+        
+        elif self.smooth_face is not None:
+            # Face found but not locked
+            (x, y, w, h) = self.smooth_face
+            err_x = (x + w // 2) - (Config.WIDTH // 2)
+            if abs(err_x) > Config.FACE_DEADZONE:
+                yv = int(np.clip(Config.YAW_GAIN * err_x, -80, 80))
+            self.status = "AWAITING LOCK"
+        else:
+            # Patrol mode - faster
+            elapsed = (time.time() - self.search_start) % 6.0
+            if elapsed < 2.0:
+                self.status = "PATROL: DASH"
+                fb = 40
+            else:
+                self.status = "PATROL: FAST SPIN"
+                yv = 60
+
+        return self._smooth(lr, fb, ud, yv)
+
+    def _smooth(self, lr, fb, ud, yv):
+        alpha = Config.SMOOTHING_ALPHA
+        slr = int(self.last_sent_rc[0] * (1-alpha) + lr * alpha)
+        sfb = int(self.last_sent_rc[1] * (1-alpha) + fb * alpha)
+        sud = int(self.last_sent_rc[2] * (1-alpha) + ud * alpha)
+        syv = int(self.last_sent_rc[3] * (1-alpha) + yv * alpha)
+        
+        if abs(slr) < 2: slr = 0
+        if abs(sfb) < 2: sfb = 0
+        if abs(sud) < 2: sud = 0
+        if abs(syv) < 2: syv = 0
+        
+        self.last_sent_rc = [slr, sfb, sud, syv]
+        return (slr, sfb, sud, syv), self.status

drone_pilot/main.py

@@ -0,0 +1,302 @@
+import cv2
+import numpy as np
+import threading
+import time
+import traceback
+from tello_sim_client import TelloSimClient
+from .config import Config, Colors
+from .vision import DroneVision
+from .flight import FlightController
+from .ui import HUD
+
+class FaceTrackingApp:
+    def __init__(self, use_real_tello: bool = False):
+        print(f"\n[System] Initializing Tello AI Pilot (Real Tello: {use_real_tello})")
+        
+        self.tello = TelloSimClient(use_real_tello=use_real_tello)
+        self.tello.connect()
+        self.tello.streamon()
+        
+        self.vision = DroneVision()
+        self.flight_controller = FlightController()
+        
+        # State Management
+        self.is_running = True
+        self.is_manual = True  
+        self.is_locked = False
+        self.is_taking_off = False
+        self.is_flying = False 
+        self.takeoff_error = False
+        self.locked_person = None
+        self.locked_person_features = None
+        self.lock_trigger = False
+        self.emergency_stop = False
+        
+        # Manual Override States
+        self.m_lr, self.m_fb, self.m_ud, self.m_yv = 0, 0, 0, 0
+        self.is_rotating = False
+        
+        self.current_height = 0.0
+        self.current_yaw = 0.0
+        self.target_altitude = Config.TARGET_ALTITUDE
+        self.last_rc_time = 0.0
+        self._last_heartbeat = 0.0
+        self._prev_rc = [0, 0, 0, 0]
+        
+        # AI Threading
+        self.ai_lock = threading.Lock()
+        self.latest_frame = None
+        self.ai_results = {
+            "faces": [],
+            "persons": [],
+            "depth_map_vis": None,
+            "zones": {"LEFT": False, "CENTER": False, "RIGHT": False},
+            "zone_scores": {"LEFT": 0.0, "CENTER": 0.0, "RIGHT": 0.0},
+            "reid_target_box": None
+        }
+        
+        cv2.namedWindow(Config.WIN_NAME, cv2.WINDOW_NORMAL)
+        cv2.resizeWindow(Config.WIN_NAME, Config.WIDTH, Config.HEIGHT)
+        cv2.setMouseCallback(Config.WIN_NAME, self._on_mouse)
+
+    def _on_mouse(self, event, x, y, flags, param):
+        if event == cv2.EVENT_LBUTTONDOWN:
+            with self.ai_lock:
+                faces = self.ai_results["faces"]
+                persons = self.ai_results["persons"]
+                frame = self.latest_frame.copy() if self.latest_frame is not None else None
+            
+            clicked_target = None
+            for pbox in persons:
+                px, py, pw, ph = pbox
+                if px < x < px+pw and py < y < py+ph:
+                    clicked_target = pbox; break
+            
+            if not clicked_target:
+                for fbox in faces:
+                    fx, fy, fw, fh = fbox
+                    if fx < x < fx+fw and fy < y < fy+fh:
+                        clicked_target = fbox; break
+            
+            if clicked_target and frame is not None:
+                feat = self.vision.extract_person_features(frame, clicked_target)
+                if feat is not None:
+                    print(f"[System] Manual Lock-ON at ({x}, {y})")
+                    self.locked_person = clicked_target
+                    self.locked_person_features = feat
+                    self.is_locked = True
+                    self.lock_trigger = False
+                    self.is_manual = False
+            else:
+                print("[System] Manual Unlock")
+                self.is_locked = False
+                self.locked_person = None
+                self.locked_person_features = None
+
+    def update_telemetry(self):
+        try:
+            self.current_yaw = float(self.tello.get_yaw())
+            raw_h = float(self.tello.get_height())
+            self.current_height = raw_h if abs(raw_h) < 10 else raw_h / 100.0
+        except: pass
+
+    def ai_worker(self):
+        while self.is_running:
+            try:
+                frame_to_process = None
+                with self.ai_lock:
+                    if self.latest_frame is not None:
+                        frame_to_process = self.latest_frame.copy()
+                
+                if frame_to_process is not None:
+                    faces = self.vision.detect_faces(frame_to_process)
+                    persons = self.vision.detect_persons(frame_to_process)
+                    self.vision.estimate_depth_and_radar(frame_to_process)
+                    
+                    reid_match = None
+                    if self.is_locked and self.locked_person_features is not None:
+                        max_sim = 0
+                        for pbox in persons:
+                            feat = self.vision.extract_person_features(frame_to_process, pbox)
+                            sim = self.vision.compare_features(self.locked_person_features, feat)
+                            if sim > max_sim:
+                                max_sim = sim
+                                reid_match = pbox
+                        
+                        if max_sim > 0.75:
+                            new_feat = self.vision.extract_person_features(frame_to_process, reid_match)
+                            if new_feat is not None:
+                                self.locked_person_features = self.locked_person_features * 0.95 + new_feat * 0.05
+                        else:
+                            reid_match = None
+
+                    with self.ai_lock:
+                        self.ai_results["faces"] = faces
+                        self.ai_results["persons"] = persons
+                        self.ai_results["depth_map_vis"] = self.vision.depth_map_vis
+                        self.ai_results["zones"] = self.vision.zones.copy()
+                        self.ai_results["zone_scores"] = self.vision.zone_scores.copy()
+                        self.ai_results["reid_target_box"] = reid_match
+                
+                time.sleep(0.01)
+            except Exception:
+                time.sleep(1)
+
+    def run(self):
+        ai_thread = threading.Thread(target=self.ai_worker, daemon=True)
+        ai_thread.start()
+        
+        try:
+            while self.is_running:
+                fr = self.tello.get_frame_read()
+                if fr is None or fr.frame is None: 
+                    time.sleep(0.01); continue
+                    
+                frame = cv2.resize(fr.frame.copy(), (Config.WIDTH, Config.HEIGHT))
+                with self.ai_lock:
+                    self.latest_frame = frame.copy()
+                
+                self.update_telemetry()
+                with self.ai_lock:
+                    faces = self.ai_results["faces"]
+                    persons = self.ai_results["persons"]
+                    depth_map_vis = self.ai_results["depth_map_vis"]
+                    zones = self.ai_results["zones"]
+                    zone_scores = self.ai_results["zone_scores"]
+                    reid_box = self.ai_results["reid_target_box"]
+                
+                if self.is_locked and reid_box is not None:
+                    self.locked_person = reid_box
+                
+                if self.lock_trigger and len(faces) > 0 and len(persons) > 0:
+                    (fx, fy, fw, fh) = max(faces, key=lambda f: f[2]*f[3])
+                    fcx, fcy = fx + fw//2, fy + fh//2
+                    for pbox in persons:
+                        px, py, pw, ph = pbox
+                        if px < fcx < px+pw and py < fcy < py+ph:
+                            feat = self.vision.extract_person_features(frame, pbox)
+                            if feat is not None:
+                                self.locked_person = pbox
+                                self.locked_person_features = feat
+                                self.is_locked = True
+                                self.lock_trigger = False
+                                break
+
+                # UI
+                if self.is_locked and self.locked_person:
+                    (x,y,w,h) = self.locked_person
+                    cv2.rectangle(frame, (x,y), (x+w,y+h), Colors.BLUE, 3)
+                    cv2.putText(frame, "TARGET LOCKED", (x,y-10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, Colors.BLUE, 2)
+                elif self.flight_controller.smooth_face is not None:
+                    (x,y,w,h) = self.flight_controller.smooth_face
+                    cv2.rectangle(frame, (x,y), (x+w,y+h), Colors.GREEN, 2)
+                    cv2.putText(frame, "FACE FOUND", (x,y-10), cv2.FONT_HERSHEY_SIMPLEX, 0.6, Colors.GREEN, 2)
+
+                key = cv2.waitKey(1) & 0xFF
+                self._handle_input(key)
+                
+                if self.is_flying and not self.is_taking_off and not self.emergency_stop:
+                    try: tof = int(self.tello.get_distance_tof())
+                    except: tof = 1000
+
+                    active_manual_rc = (self.m_lr, self.m_fb, self.m_ud, 60 if self.is_rotating else self.m_yv)
+
+                    rc, status = self.flight_controller.calculate(
+                        faces=faces,
+                        is_manual=self.is_manual,
+                        emergency_stop=self.emergency_stop,
+                        is_locked=self.is_locked,
+                        locked_person=self.locked_person,
+                        current_height=self.current_height,
+                        target_altitude=0.0,
+                        tof=tof,
+                        zones=zones,
+                        zone_scores=zone_scores,
+                        manual_rc=active_manual_rc
+                    )
+                    
+                    # Throttle and optimized sending
+                    now = time.time()
+                    if now - self.last_rc_time >= 0.1:
+                        changed = any(abs(rc[i] - self._prev_rc[i]) > 1 for i in range(4))
+                        heartbeat = now - self._last_heartbeat >= 0.5
+                        if changed or heartbeat:
+                            self.tello.send_rc_control(*rc)
+                            self._prev_rc = list(rc)
+                            self._last_heartbeat = now
+                        self.last_rc_time = now
+                else:
+                    if self.is_taking_off: status = "TAKING OFF..."
+                    elif self.takeoff_error: status = "TAKEOFF ERROR (LOW BAT?)"
+                    elif self.emergency_stop: status = "STOPPED"
+                    else: status = "READY / ON GROUND"
+
+                try: bat = int(self.tello.get_battery())
+                except: bat = 0
+                
+                HUD.draw(frame, status, self.emergency_stop, self.is_locked, self.lock_trigger,
+                         self.current_height, 0.0, self.current_yaw, bat, depth_map_vis, zones)
+                         
+                cv2.imshow(Config.WIN_NAME, frame)
+                
+        except Exception:
+            traceback.print_exc()
+        finally:
+            self.is_running = False
+            try: self.tello.land()
+            except: pass
+            self.tello.end()
+            cv2.destroyAllWindows()
+
+    def _handle_takeoff(self):
+        if self.is_taking_off or self.is_flying: return
+        
+        self.is_taking_off = True 
+        self.takeoff_error = False
+        def _task():
+            try:
+                print("[Flight] Takeoff command sent to SDK...")
+                self.tello.takeoff()
+                time.sleep(3)
+                self.is_flying = True
+                print("[Flight] In Air. Logic active.")
+            except Exception as e:
+                print(f"[Flight Error] Takeoff failed: {e}")
+                self.takeoff_error = True
+            finally:
+                self.is_taking_off = False
+        
+        threading.Thread(target=_task, daemon=True).start()
+
+    def _handle_input(self, key: int):
+        if key == 13: self.is_running = False
+        elif key == 32: self.emergency_stop = not self.emergency_stop
+        elif key == ord('m'): self.is_manual = not self.is_manual
+        elif key == ord('k'): 
+            self.lock_trigger = not self.lock_trigger
+            self.is_locked = False
+            self.locked_person_features = None
+        elif key == ord('t'): 
+            if not self.is_flying and not self.is_taking_off:
+                self.emergency_stop = False
+                self._handle_takeoff()
+        elif key == ord('l'): 
+            self.is_flying = False
+            self.is_taking_off = False
+            try: self.tello.land()
+            except: pass
+        elif key == ord('1'): self.is_rotating = not self.is_rotating
+        
+        # Reset manual speed
+        self.m_lr, self.m_fb, self.m_ud, self.m_yv = 0, 0, 0, 0
+        
+        if self.is_manual and not self.emergency_stop:
+            s = 100 # Maximum manual speed
+            if key == ord('w'): self.m_fb = s
+            elif key == ord('s'): self.m_fb = -s
+            elif key == ord('a'): self.m_lr = -s
+            elif key == ord('d'): self.m_lr = s
+            elif key == ord('r'): self.m_ud = s 
+            elif key == ord('f'): self.m_ud = -s 
+            elif key == ord('e'): self.m_yv = s
+            elif key == ord('z'): self.m_yv = -s

drone_pilot/ui.py

@@ -0,0 +1,52 @@
+import cv2
+import numpy as np
+from typing import Dict
+from .config import Config, Colors
+
+class HUD:
+    @staticmethod
+    def draw(frame: np.ndarray, 
+             status: str, 
+             emergency_stop: bool, 
+             is_locked: bool,
+             lock_trigger: bool,
+             current_height: float, 
+             target_altitude: float,
+             current_yaw: float, 
+             bat: int, 
+             depth_map_vis: np.ndarray, 
+             zones: Dict[str, bool]):
+             
+        cv2.rectangle(frame, (0, 0), (Config.WIDTH, 90), Colors.HUD_BG, -1)
+        cv2.rectangle(frame, (0, Config.HEIGHT-90), (Config.WIDTH, Config.HEIGHT), Colors.HUD_BG, -1)
+        
+        stat_color = Colors.RED if "AVOIDING" in status or emergency_stop else Colors.GREEN
+        if is_locked: stat_color = Colors.BLUE
+        
+        cv2.putText(frame, f"STATUS: {status}", (25, 40), cv2.FONT_HERSHEY_DUPLEX, 1.1, stat_color, 2)
+        cv2.putText(frame, f"ALT: {current_height:.1f}m | BAT: {bat}% | YAW: {int(current_yaw)}o", (25, 75), cv2.FONT_HERSHEY_SIMPLEX, 0.7, Colors.WHITE, 2)
+        
+        if depth_map_vis is not None:
+            mini = cv2.resize(depth_map_vis, (200, 150))
+            frame[100:250, 25:225] = mini
+            cv2.rectangle(frame, (25, 100), (225, 250), Colors.WHITE, 2)
+            cv2.putText(frame, "AI DEPTH", (25, 275), cv2.FONT_HERSHEY_SIMPLEX, 0.6, Colors.WHITE, 2)
+            
+        radar_x = Config.WIDTH - 220
+        for i, name in enumerate(["LEFT", "CENTER", "RIGHT"]):
+            short_name = name[0]
+            active = zones[name]
+            col = Colors.RED if active else Colors.GREEN
+            cv2.rectangle(frame, (radar_x + i*70, 100), (radar_x + (i+1)*60, 150), col, -1 if active else 2)
+            cv2.putText(frame, short_name, (radar_x + 20 + i*70, 135), cv2.FONT_HERSHEY_DUPLEX, 0.8, Colors.WHITE, 2)
+            
+        stop_col = Colors.RED if not emergency_stop else (0, 255, 255)
+        cv2.rectangle(frame, (Config.WIDTH - 250, Config.HEIGHT - 80), (Config.WIDTH - 25, Config.HEIGHT - 10), stop_col, -1)
+        cv2.putText(frame, "STOP", (Config.WIDTH - 200, Config.HEIGHT - 35), cv2.FONT_HERSHEY_DUPLEX, 0.8, Colors.WHITE, 2)
+        
+        keys = ["T:Takeoff", "L:Land", "M:Manual", "K:LockOn", "R:Up", "F:Down", "1:Rotate", "Space:Stop", "ENTER:Quit"]
+        for i, k in enumerate(keys):
+            cv2.putText(frame, k, (25 + (i%5)*200, Config.HEIGHT - 55 + (i//5)*35), cv2.FONT_HERSHEY_SIMPLEX, 0.6, Colors.WHITE, 2)
+        
+        if lock_trigger:
+            cv2.putText(frame, "LOCK TRIGGER ACTIVE: FINDING FACE...", (25, 120), cv2.FONT_HERSHEY_SIMPLEX, 0.7, Colors.BLUE, 2)

drone_pilot/vision.py

@@ -0,0 +1,218 @@
+import cv2
+import torch
+import numpy as np
+import onnxruntime as ort
+from PIL import Image
+from typing import List, Tuple, Dict
+from .config import Config
+
+class DroneVision:
+    def __init__(self):
+        # 1. Face Detection: YuNet (ONNX) + Haar Cascade Fallback
+        self.face_detector = None
+        try:
+            self.face_detector = cv2.FaceDetectorYN.create(
+                "models/face_detection_yunet.onnx",
+                "",
+                (320, 320),
+                0.4,
+                0.3,
+                5000
+            )
+            print("[AI] YuNet Face Detector loaded.")
+        except Exception as e:
+            print(f"[AI Warning] YuNet failed to load: {e}")
+
+        self.face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')
+        self.profile_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_profileface.xml')
+
+        # 2. ONNX Runtime Sessions
+        try:
+            providers = ['CPUExecutionProvider']
+            if 'CUDAExecutionProvider' in ort.get_available_providers():
+                providers.insert(0, 'CUDAExecutionProvider')
+                
+            self.depth_session = ort.InferenceSession("models/midas_small.onnx", providers=providers)
+            self.reid_session = ort.InferenceSession("models/reid_mobilenet.onnx", providers=providers)
+            print(f"[AI] Depth & ReID (ONNX) initialized.")
+        except Exception as e:
+            print(f"[AI Error] ONNX initialization failed: {e}")
+            self.depth_session = None
+            self.reid_session = None
+
+        # 3. Person Detection (SSD Lite Torch)
+        try:
+            self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+            from torchvision.models.detection import ssdlite320_mobilenet_v3_large, SSDLite320_MobileNet_V3_Large_Weights
+            weights = SSDLite320_MobileNet_V3_Large_Weights.DEFAULT
+            self.person_model = ssdlite320_mobilenet_v3_large(weights=weights, box_score_thresh=Config.PERSON_CONF_THRESHOLD).to(self.device)
+            self.person_model.eval()
+            self.person_preprocess = weights.transforms()
+        except Exception as e:
+            print(f"[AI Error] Person detector failed: {e}")
+            self.person_model = None
+            
+        self.depth_map_vis = None
+        self.zones = {"LEFT": False, "CENTER": False, "RIGHT": False}
+        self.zone_scores = {"LEFT": 0.0, "CENTER": 0.0, "RIGHT": 0.0}
+
+    def _detect_haar(self, img_gray: np.ndarray) -> List[Tuple]:
+        faces = list(self.face_cascade.detectMultiScale(img_gray, 1.1, 7, minSize=(30, 30)))
+        profiles = self.profile_cascade.detectMultiScale(img_gray, 1.1, 8, minSize=(35, 35))
+        for p in profiles:
+            is_new = True
+            px, py, pw, ph = p
+            for (fx, fy, fw, fh) in faces:
+                if abs(px - fx) < fw/2 and abs(py - fy) < fh/2:
+                    is_new = False; break
+            if is_new: faces.append(tuple(p))
+        return faces
+
+    def detect_faces(self, frame: np.ndarray) -> List[Tuple]:
+        h, w = frame.shape[:2]
+        faces = []
+
+        # YuNet Detection
+        if self.face_detector is not None:
+            try:
+                self.face_detector.setInputSize((w, h))
+                _, detections = self.face_detector.detect(frame)
+                if detections is not None:
+                    for det in detections:
+                        faces.append(tuple(det[0:4].astype(int)))
+            except: pass
+
+        # Haar Fallback
+        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        gray = cv2.GaussianBlur(gray, (3, 3), 0)
+        haar_faces = self._detect_haar(gray)
+        
+        for hf in haar_faces:
+            is_new = True
+            hx, hy, hw, hh = hf
+            for (fx, fy, fw, fh) in faces:
+                if abs(hx - fx) < fw/2 and abs(hy - fy) < fh/2:
+                    is_new = False; break
+            if is_new: faces.append(hf)
+
+        # Center Zoom for extreme distance
+        zh, zw = int(h * 0.4), int(w * 0.4)
+        cy, cx = h // 2, w // 2
+        y1, y2 = cy - zh // 2, cy + zh // 2
+        x1, x2 = cx - zw // 2, cx + zw // 2
+        center_crop = frame[y1:y2, x1:x2]
+        center_upscaled = cv2.resize(center_crop, (zw * 2, zh * 2), interpolation=cv2.INTER_LANCZOS4)
+        
+        # In Zoom mode, use YuNet if available, otherwise Haar
+        if self.face_detector is not None:
+            try:
+                uh, uw = center_upscaled.shape[:2]
+                self.face_detector.setInputSize((uw, uh))
+                _, zoom_detections = self.face_detector.detect(center_upscaled)
+                if zoom_detections is not None:
+                    for det in zoom_detections:
+                        zx, zy, zw_f, zh_f = det[0:4]
+                        rx, ry = int(zx / 2) + x1, int(zy / 2) + y1
+                        rw, rh = int(zw_f / 2), int(zh_f / 2)
+                        is_new = True
+                        for (fx, fy, fw, fh) in faces:
+                            if abs(rx - fx) < fw/2 and abs(ry - fy) < fh/2:
+                                is_new = False; break
+                        if is_new: faces.append((rx, ry, rw, rh))
+            except: pass
+        
+        # Always run Haar on zoom for robustness
+        zoom_gray = cv2.cvtColor(center_upscaled, cv2.COLOR_BGR2GRAY)
+        zoom_haar = self._detect_haar(zoom_gray)
+        for (zx, zy, zw_f, zh_f) in zoom_haar:
+            rx, ry = int(zx / 2) + x1, int(zy / 2) + y1
+            rw, rh = int(zw_f / 2), int(zh_f / 2)
+            is_new = True
+            for (fx, fy, fw, fh) in faces:
+                if abs(rx - fx) < fw/2 and abs(ry - fy) < fh/2:
+                    is_new = False; break
+            if is_new: faces.append((rx, ry, rw, rh))
+
+        return faces
+
+    def detect_persons(self, frame: np.ndarray) -> List[Tuple]:
+        if self.person_model is None: return []
+        img_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        pil_img = Image.fromarray(img_rgb)
+        input_tensor = self.person_preprocess(pil_img).to(self.device).unsqueeze(0)
+        with torch.no_grad():
+            output = self.person_model(input_tensor)[0]
+        
+        persons = []
+        for i in range(len(output['labels'])):
+            if output['labels'][i] == 1 and output['scores'][i] > Config.PERSON_CONF_THRESHOLD:
+                box = output['boxes'][i].cpu().numpy().astype(int)
+                persons.append((box[0], box[1], box[2]-box[0], box[3]-box[1]))
+        return persons
+
+    def extract_person_features(self, frame: np.ndarray, box: Tuple) -> np.ndarray:
+        if self.reid_session is None: return None
+        try:
+            x, y, w, h = box
+            x1, y1 = max(0, x), max(0, y)
+            x2, y2 = min(frame.shape[1], x+w), min(frame.shape[0], y+h)
+            if x2 <= x1 or y2 <= y1: return None
+            
+            crop = frame[y1:y2, x1:x2]
+            img_rgb = cv2.cvtColor(crop, cv2.COLOR_BGR2RGB)
+            img_resized = cv2.resize(img_rgb, (224, 224))
+            img_float = img_resized.astype(np.float32) / 255.0
+            
+            mean = np.array([0.485, 0.456, 0.406])
+            std = np.array([0.229, 0.224, 0.225])
+            img_norm = (img_float - mean) / std
+            
+            img_input = np.transpose(img_norm, (2, 0, 1)).astype(np.float32)
+            img_input = np.expand_dims(img_input, axis=0)
+            
+            ort_inputs = {self.reid_session.get_inputs()[0].name: img_input}
+            features = self.reid_session.run(None, ort_inputs)[0]
+            return features.flatten()
+        except: return None
+
+    def compare_features(self, feat1: np.ndarray, feat2: np.ndarray) -> float:
+        if feat1 is None or feat2 is None: return 0.0
+        try:
+            norm1 = np.linalg.norm(feat1)
+            norm2 = np.linalg.norm(feat2)
+            if norm1 == 0 or norm2 == 0: return 0.0
+            return np.dot(feat1, feat2) / (norm1 * norm2)
+        except: return 0.0
+
+    def estimate_depth_and_radar(self, frame: np.ndarray):
+        if self.depth_session is None: return
+        try:
+            h, w = frame.shape[:2]
+            slice_y1, slice_y2 = int(h*0.25), int(h*0.75)
+            analysis_area = frame[slice_y1:slice_y2, :]
+            img_rgb = cv2.cvtColor(analysis_area, cv2.COLOR_BGR2RGB)
+            
+            img_resized = cv2.resize(img_rgb, (256, 256))
+            img_float = img_resized.astype(np.float32) / 255.0
+            mean = np.array([0.485, 0.456, 0.406])
+            std = np.array([0.229, 0.224, 0.225])
+            img_norm = (img_float - mean) / std
+            img_input = np.transpose(img_norm, (2, 0, 1)).astype(np.float32)
+            img_input = np.expand_dims(img_input, axis=0)
+            
+            ort_inputs = {self.depth_session.get_inputs()[0].name: img_input}
+            pred = self.depth_session.run(None, ort_inputs)[0][0]
+            
+            pred_upscaled = cv2.resize(pred, (analysis_area.shape[1], analysis_area.shape[0]), interpolation=cv2.INTER_CUBIC)
+            out_norm = cv2.normalize(pred_upscaled, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
+            self.depth_map_vis = cv2.applyColorMap(out_norm, cv2.COLORMAP_MAGMA)
+            depth_map = pred_upscaled / (np.max(pred_upscaled) + 1e-5)
+            
+            dh, dw = depth_map.shape
+            zone_w = dw // 3
+            for i, name in enumerate(["LEFT", "CENTER", "RIGHT"]):
+                zx1, zx2 = i * zone_w, (i + 1) * zone_w
+                score = np.mean(depth_map[dh//4:3*dh//4, zx1:zx2])
+                self.zone_scores[name] = score
+                self.zones[name] = score > Config.DEPTH_THRESHOLD
+        except: pass

face_tracking_orbit.py

@@ -1,265 +0,0 @@
-import cv2
-import numpy as np
-from tello_sim_client import TelloSimClient
-import time
-import torch # Deep Learning
-import torchvision.transforms as T
-
-# --- Configuration ---
-WINDOW_WIDTH = 960
-WINDOW_HEIGHT = 720
-TARGET_FACE_SIZE = 120  
-FACE_CENTER_X = WINDOW_WIDTH // 2
-FACE_CENTER_Y = WINDOW_HEIGHT // 2
-
-TARGET_ALTITUDE = 1.5  # meters
-KP_ALTITUDE = 60 
-
-# Multi-Zone Radar & DL Config
-OBSTACLE_THRESHOLD_TOF = 75 
-DEPTH_THRESHOLD = 0.75 # Höherer Schwellenwert (weniger empfindlich)
-
-# --- Colors (BGR) ---
-COLOR_GREEN = (0, 255, 0)
-COLOR_RED = (0, 0, 255)
-COLOR_BLUE = (255, 0, 0)
-COLOR_WHITE = (255, 255, 255)
-
-class FaceTrackingApp:
-    def __init__(self):
-        print("[App] Initializing TelloSimClient...")
-        self.tello = TelloSimClient()
-        self.tello.connect()
-        self.tello.streamon()
-        
-        # Load Face Detector
-        cascade_path = cv2.data.haarcascades + 'haarcascade_frontalface_default.xml'
-        self.face_cascade = cv2.CascadeClassifier(cascade_path)
-        
-        # Load MiDaS Model
-        print("[AI] Loading MiDaS DL Model...")
-        try:
-            self.device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu")
-            self.model = torch.hub.load("intel-isl/MiDaS", "MiDaS_small").to(self.device)
-            self.model.eval()
-            self.transform = torch.hub.load("intel-isl/MiDaS", "transforms").small_transform
-        except Exception as e:
-            print(f"[AI] Error: {e}")
-            self.model = None
-
-        self.is_running = True
-        self.is_manual = False
-        self.is_orbiting = False
-        
-        self.zones = {"LEFT": False, "CENTER": False, "RIGHT": False}
-        self.zone_scores = {"LEFT": 0.0, "CENTER": 0.0, "RIGHT": 0.0}
-        self.status = "INIT"
-        self.depth_map_vis = None
-        
-        # Position Tracking
-        self.pos_x, self.pos_z = 0.0, 0.0
-        self.path_history = [(0.0, 0.0)]
-        self.last_update_time = time.time()
-        self.current_yaw = 0.0
-        self.current_height = 0.0
-        
-        # Velocity Tracking
-        self.last_sent_rc = [0, 0, 0, 0] # lr, fb, ud, yv
-        self.m_lr, self.m_fb, self.m_ud, self.m_yv = 0, 0, 0, 0
-        
-        self.avoidance_active = False
-        self.avoidance_dir = 0 # -1 for right, 1 for left
-        self.center_blocked = False
-        self.search_start = time.time()
-        
-        cv2.namedWindow("Tello AI Pilot (Stable Mode)", cv2.WINDOW_NORMAL)
-        cv2.resizeWindow("Tello AI Pilot (Stable Mode)", WINDOW_WIDTH, WINDOW_HEIGHT)
-
-    def estimate_depth(self, frame):
-        if self.model is None: return None
-        # Wir analysieren nur den mittleren Streifen (kein Boden, kein Himmel)
-        analysis_area = frame[200:520, :] # Fokus auf Augenhöhe
-        img = cv2.cvtColor(analysis_area, cv2.COLOR_BGR2RGB)
-        input_batch = self.transform(img).to(self.device)
-        with torch.no_grad():
-            pred = self.model(input_batch)
-            pred = torch.nn.functional.interpolate(pred.unsqueeze(1), size=analysis_area.shape[:2], mode="bicubic", align_corners=False).squeeze()
-        out = pred.cpu().numpy()
-        out_norm = cv2.normalize(out, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
-        self.depth_map_vis = cv2.applyColorMap(out_norm, cv2.COLORMAP_MAGMA)
-        return out / (np.max(out) + 1e-5)
-
-    def run_radar_scan(self, depth_map):
-        if depth_map is None: return
-        h, w = depth_map.shape
-        zone_w = w // 3
-        for i, name in enumerate(["LEFT", "CENTER", "RIGHT"]):
-            zx_start, zx_end = i * zone_w, (i + 1) * zone_w
-            # Durchschnittliche Tiefe im Zentrum der Zone
-            score = np.mean(depth_map[h//4 : 3*h//4, zx_start:zx_end])
-            self.zone_scores[name] = score
-            self.zones[name] = score > DEPTH_THRESHOLD
-
-    def update_telemetry(self, frame):
-        try:
-            self.current_yaw = float(self.tello.get_yaw())
-            raw_height = float(self.tello.get_height())
-            # Auto-Scale detection (Simulator = m, Real = cm)
-            self.current_height = raw_height if abs(raw_height) < 10 else raw_height / 100.0
-            
-            dm = self.estimate_depth(frame)
-            if dm is not None: self.run_radar_scan(dm)
-            
-            # Dead Reckoning
-            now = time.time()
-            dt = now - self.last_update_time
-            self.last_update_time = now
-            
-            # Simulator Scale (0.6 ist ein guter Annäherungswert für cm/s)
-            sf = 0.6
-            rad = np.radians(self.current_yaw)
-            lr, fb = self.last_sent_rc[0], self.last_sent_rc[1]
-            vx = fb * np.sin(rad) + lr * np.cos(rad)
-            vz = fb * np.cos(rad) - lr * np.sin(rad)
-            self.pos_x += vx * sf * dt
-            self.pos_z += vz * sf * dt
-            
-            if np.linalg.norm(np.array([self.pos_x, self.pos_z]) - np.array(self.path_history[-1])) > 0.5:
-                self.path_history.append((self.pos_x, self.pos_z))
-        except: pass
-
-    def process_flight(self, faces):
-        lr, fb, ud, yv = 0, 0, 0, 0
-        
-        # Terrain Following (Altitude in m)
-        if not self.is_manual:
-            ud = int(np.clip((TARGET_ALTITUDE - self.current_height) * KP_ALTITUDE, -40, 40))
-
-        # --- AI PILOT ---
-        # TOF Sensor Check
-        try: tof = int(self.tello.get_distance_tof())
-        except: tof = 1000
-        
-        self.center_blocked = self.zones["CENTER"] or tof < OBSTACLE_THRESHOLD_TOF
-        
-        if self.center_blocked:
-            self.status = "!!! OBSTACLE !!!"
-            fb = 0 
-            
-            # Stick to a direction if already avoiding
-            if not self.avoidance_active:
-                self.avoidance_dir = 1 if self.zone_scores["LEFT"] < self.zone_scores["RIGHT"] else -1
-                self.avoidance_active = True
-            
-            yv = 45 * self.avoidance_dir
-        elif self.avoidance_active:
-            self.status = "RECOVERING"
-            fb = 15; yv = 20 * self.avoidance_dir
-            if not self.zones["CENTER"]: 
-                self.avoidance_active = False
-                self.avoidance_dir = 0
-            
-        elif self.is_manual:
-            self.status = "MANUAL"
-            lr, fb, ud, yv = self.m_lr, self.m_fb, self.m_ud, self.m_yv
-            
-        elif len(faces) > 0:
-            self.search_start = time.time()
-            (x, y, w, h) = max(faces, key=lambda f: f[2] * f[3])
-            yv_err = (x + w // 2) - FACE_CENTER_X
-            yv = int(np.clip(0.18 * yv_err, -60, 60)) 
-            fb_raw = int(np.clip(0.5 * (TARGET_FACE_SIZE - w), -50, 50))
-            
-            # Sanftere Reduzierung bei Drehung
-            fb = int(fb_raw * 0.5) if abs(yv_err) > 60 else fb_raw
-            
-            if self.is_orbiting:
-                self.status = "AI ORBIT"; lr = 35
-            else:
-                self.status = "AI TRACKING"
-        else:
-            # SUCHE: "Walk and Look" Muster
-            elapsed = (time.time() - self.search_start) % 4.0
-            if elapsed < 2.8:
-                self.status = "SEARCH: FORWARD"
-                fb = 35; yv = 8 
-            else:
-                self.status = "SEARCH: TURNING"
-                fb = 5; yv = 35
-
-        self.last_sent_rc = [lr, fb, ud, yv]
-        self.tello.send_rc_control(lr, fb, ud, yv)
-
-    def draw_hud(self, frame, b):
-        try: 
-            if hasattr(self.tello, 'is_flying'):
-                state = "FLYING" if self.tello.is_flying else "LANDED"
-            else:
-                state = self.tello.get_current_state()
-        except: state = "ERROR"
-        
-        if self.depth_map_vis is not None:
-            mini = cv2.resize(self.depth_map_vis, (160, 120))
-            frame[60:180, 20:180] = mini
-            cv2.rectangle(frame, (20, 60), (180, 180), COLOR_WHITE, 1)
-        
-        cv2.rectangle(frame, (0, 0), (WINDOW_WIDTH, 60), (0,0,0), -1)
-        cv2.putText(frame, f"{self.status} | {state.upper()} | ALT: {self.current_height:.1f}m | BAT: {b}%", (20, 40), 
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, COLOR_GREEN if not self.center_blocked else COLOR_RED, 2)
-        
-        cv2.putText(frame, f"RC: {self.last_sent_rc}", (20, 70), 
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.5, COLOR_WHITE, 1)
-        
-        # Radar Score Debugging
-        for i, name in enumerate(["LEFT", "CENTER", "RIGHT"]):
-            col = COLOR_RED if self.zones[name] else COLOR_GREEN
-            val = self.zone_scores[name]
-            cv2.putText(frame, f"{name[:1]}:{val:.2f}", (WINDOW_WIDTH - 250 + i*80, 40), 
-                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, col, 1)
-
-    def run(self):
-        try:
-            self.last_update_time = time.time()
-            while self.is_running:
-                fr = self.tello.get_frame_read()
-                if fr.frame is None: continue
-                frame = cv2.resize(fr.frame.copy(), (WINDOW_WIDTH, WINDOW_HEIGHT))
-                self.update_telemetry(frame)
-                
-                # Face Detection (auf Originalbild)
-                faces = self.face_cascade.detectMultiScale(cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY), 1.2, 8)
-                
-                key = cv2.waitKey(1) & 0xFF
-                if key == ord('q'): self.is_running = False
-                elif key == ord('m'): self.is_manual = not self.is_manual
-                elif key == ord('o'): self.is_orbiting = not self.is_orbiting
-                elif key == ord('t'): 
-                    print("[App] Manual Takeoff Triggered")
-                    self.tello.takeoff()
-                elif key == ord('l'): self.tello.land()
-                
-                if self.is_manual:
-                    s = 60
-                    self.m_lr, self.m_fb, self.m_ud, self.m_yv = 0, 0, 0, 0
-                    if key == ord('w'): self.m_fb = s
-                    elif key == ord('s'): self.m_fb = -s
-                    elif key == ord('a'): self.m_lr = -s
-                    elif key == ord('d'): self.m_lr = s
-                    elif key == ord('r'): self.m_ud = s    # R = UP
-                    elif key == ord('f'): self.m_ud = -s   # F = DOWN
-                    elif key == ord('e'): self.m_yv = s    # E = YAW RIGHT
-                    elif key == ord('z'): self.m_yv = -s   # Z = YAW LEFT
-                
-                self.process_flight(faces)
-                try: bat = int(self.tello.get_battery())
-                except: bat = 0
-                
-                self.draw_hud(frame, bat)
-                cv2.imshow("Tello AI Pilot (Stable Mode)", frame)
-        except Exception as e: print(f"Error: {e}")
-        finally:
-            self.tello.land(); self.tello.end(); cv2.destroyAllWindows()
-
-if __name__ == "__main__":
-    app = FaceTrackingApp()
-    app.run()

run.py

@@ -0,0 +1,6 @@
+from drone_pilot.main import FaceTrackingApp
+
+if __name__ == "__main__":
+    # Change use_real_tello=True when flying the physical drone
+    app = FaceTrackingApp(use_real_tello=True)
+    app.run()

tello_sim/command_server.py

@@ -30,7 +30,7 @@ class CommandServer:
         try:
             test_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             test_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-            test_socket.bind(('localhost', port))
+            test_socket.bind(('127.0.0.1', port))
             test_socket.close()
             return True
         except OSError:
@@ -88,7 +88,7 @@ class CommandServer:
         self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         
         try:
-            self.server_socket.bind(('localhost', 9999))  # Port number for communication
+            self.server_socket.bind(('127.0.0.1', 9999))  # Port number for communication
             self.server_socket.listen(5)
             print("[Command Listener] Listening on port 9999...")
         except OSError as e:

tello_sim/tello_drone_sim.py

@@ -60,4 +60,10 @@ class TelloDroneSim:
             raise
 
     def update(self) -> None:
-        self._ursina_adapter.tick()
+        self._ursina_adapter.tick()
+
+if __name__ == "__main__":
+    sim = TelloDroneSim()
+    def update():
+        sim.update()
+    sim.start()

tello_sim/ursina_adapter.py

@@ -4,7 +4,6 @@ from OpenGL.GL import glReadPixels, GL_RGBA, GL_UNSIGNED_BYTE
 import numpy as np
 from typing import Literal
 import cv2
-import numpy as np
 from ursina import (
     Ursina,
     window,
@@ -175,6 +174,15 @@ class UrsinaAdapter():
             cast_shadow=True
         )
 
+        self.walking_person = Entity(
+            model='entities/business_man.glb',
+            scale=7.3,
+            position=(0, 13.0, 40),
+            rotation=(0, 90, 0),
+            collider='box',
+            cast_shadow=True
+        )
+
         self.light1 = Entity(
             model='entities/street_light.glb',
             scale=(4, 6.5, 5),  
@@ -303,6 +311,12 @@ class UrsinaAdapter():
         self.max_roll = 20  
         self.tilt_smoothness = 0.05  
 
+        # RC control state
+        self.rc_lr = 0.0
+        self.rc_fb = 0.0
+        self.rc_ud = 0.0
+        self.rc_yaw = 0.0
+
         self.create_meters()
         
     def run(self):
@@ -478,6 +492,7 @@ class UrsinaAdapter():
         return int(self.velocity.x * 3.6)  
 
     def get_speed_y(self) -> int:
+        from ursina import time as ursina_time
         current_time = time()
         elapsed_time = current_time - self.last_time
 
@@ -585,35 +600,90 @@ class UrsinaAdapter():
             self.emergency()
     
     def update_movement(self) -> None:
-        self.velocity += self.acceleration
+        import ursina
+        dt = ursina.time.dt
+        t = time()
+
+        # Update walking person movement
+        # Moves between -15 and 15 on X axis
+        walk_speed = 2.0
+        old_x = self.walking_person.x
+        self.walking_person.x = sin(t * 0.5) * 15
         
-        if self.velocity is None:
-            raise Exception("Velocity is None")
+        # Rotate person based on direction
+        if self.walking_person.x > old_x:
+            self.walking_person.rotation_y = 90
+        else:
+            self.walking_person.rotation_y = -90
 
-        if self.velocity.length() > self.max_speed:
-            self.velocity = self.velocity.normalized() * self.max_speed
+        # Apply RC control in world space based on local drone orientation
+        if self.is_flying:
+            # Tello RC values are -100 to 100. 
+            speed_mult_h = 0.18  # Increased: 100 -> 18.0 m/s for faster forward
+            speed_mult_v = 0.05  # Vertical: 100 -> 5.0 m/s
+            
+            # Robust local-to-world conversion using yaw angle
+            rad = np.radians(self.drone.rotation_y)
+            sin_y = np.sin(rad)
+            cos_y = np.cos(rad)
+            
+            # vx = right-axis component, vz = forward-axis component
+            vx = (self.rc_fb * speed_mult_h * sin_y) + (self.rc_lr * speed_mult_h * cos_y)
+            vz = (self.rc_fb * speed_mult_h * cos_y) - (self.rc_lr * speed_mult_h * sin_y)
+            vy = self.rc_ud * speed_mult_v
+            
+            target_velocity = Vec3(vx, vy, vz)
+            
+            # Smoothly interpolate current velocity towards target
+            self.velocity = lerp(self.velocity, target_velocity, 10 * dt)
+            
+            # Apply yaw rotation (degrees per second)
+            # Reduced significantly: multiplier from 3.5 to 1.2
+            self.drone.rotation_y += self.rc_yaw * 1.2 * dt
+            
+            # Set target tilt angles for visual feedback
+            self.pitch_angle = (self.rc_fb / 100.0) * self.max_pitch
+            self.roll_angle = (self.rc_lr / 100.0) * self.max_roll
 
-        self.velocity *= self.drag
-        new_position = self.drone.position + self.velocity
-        hit_info = raycast(self.drone.position, self.velocity.normalized(), distance=self.velocity.length(), ignore=(self.drone,)) # type: ignore
+        # Acceleration (m/s^2) from move() commands
+        self.velocity += self.acceleration * dt
+        
+        if self.velocity.length() > 20.0: # Max speed 20 m/s
+            self.velocity = self.velocity.normalized() * 20.0
 
-        if not hit_info.hit:
-            self.drone.position = new_position  
+        # Apply drag when no active RC input
+        if abs(self.rc_fb) < 1 and abs(self.rc_lr) < 1 and abs(self.rc_ud) < 1:
+            self.velocity = lerp(self.velocity, Vec3(0,0,0), 3 * dt)
+        
+        # Frame-independent position update
+        new_position = self.drone.position + self.velocity * dt
+        
+        # Collision check
+        if self.velocity.length() > 0.01:
+            hit_info = raycast(self.drone.position + Vec3(0,0.1,0), self.velocity.normalized(), 
+                               distance=self.velocity.length() * dt + 0.1, ignore=(self.drone,)) # type: ignore
+            if not hit_info.hit:
+                self.drone.position = new_position  
+        else:
+            self.drone.position = new_position
 
-        if self.drone.y < 3:
-            self.drone.y = 3
+        if self.drone.y < 2.6: # Ground level
+            self.drone.y = 2.6
+            if self.velocity.y < 0: self.velocity.y = 0
 
         self.acceleration = Vec3(0, 0, 0)
 
         # Apply pitch and roll to the drone
         self.drone.rotation_x = lerp(self.drone.rotation_x, self.pitch_angle, self.tilt_smoothness)
         self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
-        current_time = time()
-        dt = current_time - self.last_time_accel
+        
+        from time import time as wall_time
+        current_time = wall_time()
+        dt_accel = current_time - self.last_time_accel
 
-        if dt > 0:
+        if dt_accel > 0:
             velocity_change = self.velocity - self.last_velocity_accel
-            self.calculated_acceleration = velocity_change / dt # type: ignore
+            self.calculated_acceleration = velocity_change / dt_accel # type: ignore
 
             self.last_velocity_accel = Vec3(self.velocity.x, self.velocity.y, self.velocity.z)
             self.last_time_accel = current_time
@@ -697,15 +767,11 @@ class UrsinaAdapter():
         self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
         
     def send_rc_control(self, left_right_velocity_ms: float, forward_backward_velocity_ms: float, up_down_velocity_ms: float, yaw_velocity_ms: float):
-        
-        self.velocity = Vec3(
-            -left_right_velocity_ms / 100,        # LEFT/RIGHT mapped to X
-            up_down_velocity_ms / 100,            # UP/DOWN mapped to Y
-            forward_backward_velocity_ms / 100   # FORWARD/BACKWARD mapped to Z
-        )
-
-        self.drone.rotation_y += -yaw_velocity_ms * 0.05  # Smooth yaw rotation
-        print(f"[RC Control] Velocities set -> LR: {left_right_velocity_ms}, FB: {forward_backward_velocity_ms}, UD: {up_down_velocity_ms}, Yaw: {yaw_velocity_ms}")
+        # Only store the target RC values to be applied in the main thread (update_movement)
+        self.rc_lr = left_right_velocity_ms
+        self.rc_fb = forward_backward_velocity_ms
+        self.rc_ud = up_down_velocity_ms
+        self.rc_yaw = yaw_velocity_ms
 
     @staticmethod
     def map_coords(x: float, y: float, z: float) -> Vec3:
@@ -892,7 +958,8 @@ class UrsinaAdapter():
         rolling = False
         
         if self.bezier_mode:
-            t_now = time()
+            from time import time as wall_time
+            t_now = wall_time()
             elapsed = t_now - self.bezier_start_time # type: ignore
             t = min(1.0, elapsed / self.bezier_duration)
 
@@ -929,4 +996,5 @@ class UrsinaAdapter():
         self.update_movement()
         self.update_pitch_roll()
 
-    
+    def update(self):
+        self.tick()

tello_sim_client.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass
-import logging
 import subprocess
 import platform
 import sys
@@ -9,255 +8,141 @@ import cv2
 import os
 import numpy as np
 
+try:
+    from djitellopy import Tello
+    HAS_TELLO_LIB = True
+except ImportError:
+    HAS_TELLO_LIB = False
+
 @dataclass
 class BackgroundFrameRead():
     frame: cv2.typing.MatLike
 
 class TelloSimClient:
-    def __init__(self, host='localhost', port=9999, auto_start_simulation=True):
+    def __init__(self, host='127.0.0.1', port=9999, auto_start_simulation=True, use_real_tello=False):
         self.host = host
         self.port = port
-        self.latest_frame = None
-        if auto_start_simulation and not self._check_simulation_running():
-            self._start_simulation()
-            print("[Wrapper] Starting Tello Simulation...")
-            self._wait_for_simulation()
+        self.use_real_tello = use_real_tello
+        self.real_drone = None
+        
+        if self.use_real_tello:
+            if HAS_TELLO_LIB:
+                print("[Client] Connecting to REAL Tello Hardware...")
+                self.real_drone = Tello()
+            else:
+                print("[Error] djitellopy not found! Falling back to Simulator.")
+                self.use_real_tello = False
 
-    def _start_simulation(self):
-        sim_path = os.path.abspath(os.path.join(os.path.dirname(__file__), 'tello_drone_sim.py'))
-        if platform.system() == "Windows":
-            command = f'start cmd /k python "{sim_path}"'
-            print("[DEBUG] Launching simulation command:", command) 
-            subprocess.Popen(command, shell=True)
-        elif platform.system() == "Linux":
-            subprocess.Popen(['gnome-terminal', '--', 'python3', 'tello_drone_sim.py'])
-        elif platform.system() == "Darwin":
-            subprocess.Popen(['ls'])
-            subprocess.Popen(['pwd'])
-            python_path = os.path.join(os.path.dirname(sys.executable), 'python3')
-            print("Running python3 from path:", python_path)
-            subprocess.Popen([python_path, './tello_drone_sim.py'], cwd=os.getcwd(), 
-                            stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, 
-                            start_new_session=True)
+        if not self.use_real_tello:
+            if auto_start_simulation and not self._check_simulation_running():
+                self._start_simulation()
+                self._wait_for_simulation()
+
+    def connect(self):
+        if self.real_drone: self.real_drone.connect()
+        else: self._send_command('connect')
+
+    def takeoff(self):
+        if self.real_drone: self.real_drone.takeoff()
+        else: self._send_command('takeoff')
+
+    def land(self):
+        if self.real_drone: self.real_drone.land()
+        else: self._send_command('land')
+
+    def streamon(self):
+        if self.real_drone: self.real_drone.streamon()
+        else: self._send_command('streamon')
+
+    def streamoff(self):
+        if self.real_drone: self.real_drone.streamoff()
+        else: self._send_command('streamoff')
+
+    def get_frame_read(self):
+        if self.real_drone: return self.real_drone.get_frame_read()
+        return self # Simulator acts as frame provider via TCP in get_frame_read-style
+
+    @property
+    def frame(self):
+        """Helper for simulator to match BackgroundFrameRead structure"""
+        return self._receive_tcp_frame()
+
+    def send_rc_control(self, lr, fb, ud, yaw):
+        if self.real_drone: self.real_drone.send_rc_control(int(lr), int(fb), int(ud), int(yaw))
+        else: self._send_command(f"send_rc_control {lr} {fb} {ud} {yaw}")
+
+    def get_yaw(self):
+        if self.real_drone: return self.real_drone.get_yaw()
+        return float(self._request_data('get_yaw') or 0)
+
+    def get_height(self):
+        if self.real_drone: return self.real_drone.get_height()
+        return float(self._request_data('get_height') or 0)
+
+    def get_distance_tof(self):
+        if self.real_drone: return self.real_drone.get_distance_tof()
+        return float(self._request_data('get_distance_tof') or 0)
+
+    def get_battery(self):
+        if self.real_drone: return self.real_drone.get_battery()
+        return int(self._request_data('get_battery') or 0)
+
+    def end(self):
+        if self.real_drone:
+            self.real_drone.streamoff()
         else:
-            raise OSError("Unsupported OS for launching terminal simulation.")
+            self._send_command('end')
+
+    # --- Internal Simulator Logic ---
+    def _start_simulation(self):
+        sim_path = os.path.abspath(os.path.join(os.path.dirname(__file__), 'tello_sim', 'tello_drone_sim.py'))
+        print(f"[Wrapper] Launching Simulator: {sim_path}")
+        clean_env = os.environ.copy()
+        # Set Qt platform to xcb for better compatibility on Linux/Wayland
+        clean_env["QT_QPA_PLATFORM"] = "xcb"
+        # Clean PyCharm debugger vars
+        for k in list(clean_env.keys()):
+            if k.startswith('PYDEVD'): del clean_env[k]
+        subprocess.Popen([sys.executable, sim_path], cwd=os.path.dirname(sim_path),
+                        env=clean_env, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, start_new_session=True)
 
     def _check_simulation_running(self):
         try:
-            with socket.create_connection((self.host, self.port), timeout=1):
-                return True
-        except (ConnectionRefusedError, socket.timeout, OSError) as ex:
-            logging.error("[Wrapper] Simulation is not running.", ex)
-            return False
+            with socket.create_connection((self.host, self.port), timeout=0.5): return True
+        except: return False
 
-    def _wait_for_simulation(self, timeout=30):
-        print("[Wrapper] Waiting for simulation to become ready...")
-        start_time = time.time()
-        while time.time() - start_time < timeout:
-            if self._check_simulation_running():
-                print("[Wrapper] Simulation is now ready!")
-                return
+    def _wait_for_simulation(self, timeout=15):
+        start = time.time()
+        while time.time() - start < timeout:
+            if self._check_simulation_running(): return
             time.sleep(1)
-        raise TimeoutError("[Error] Simulation did not become ready in time.")
+        print("[Warning] Simulator not responding.")
 
-    def _send_command(self, command: str):
+    def _send_command(self, cmd):
         try:
             with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-                s.connect((self.host, self.port))
-                s.send(command.encode())
-        except ConnectionRefusedError:
-            print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
-    
-    def get_frame_read(self) -> BackgroundFrameRead:
-        """Get the latest frame directly from the simulator over TCP."""
+                s.connect((self.host, self.port)); s.send(cmd.encode())
+        except: pass
+
+    def _request_data(self, cmd):
+        try:
+            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+                s.connect((self.host, self.port)); s.send(cmd.encode())
+                return s.recv(1024).decode()
+        except: return None
+
+    def _receive_tcp_frame(self):
         try:
             with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
                 s.connect((self.host, self.port))
                 s.send(b'get_latest_frame')
-                
-                # Receive frame size (4 bytes)
                 size_data = s.recv(4)
-                if len(size_data) != 4:
-                    print("[Error] Failed to receive frame size")
-                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
-                
-                frame_size = int.from_bytes(size_data, byteorder='big')
-                
-                # If size is 0, no frame available
-                if frame_size == 0:
-                    print("[Debug] No frame available from simulator")
-                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
-                
-                # Receive the frame data
-                frame_data = b''
-                bytes_received = 0
-                while bytes_received < frame_size:
-                    chunk = s.recv(min(4096, frame_size - bytes_received))
-                    if not chunk:
-                        break
-                    frame_data += chunk
-                    bytes_received += len(chunk)
-                
-                # Decode the frame from PNG bytes
-                if len(frame_data) == frame_size:
-                    nparr = np.frombuffer(frame_data, np.uint8)
-                    image = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
-                    if image is not None:
-                        # Return frame in BGR format (OpenCV's native format)
-                        # Users should convert to RGB if needed for display
-                        return BackgroundFrameRead(frame=image)
-                
-                print("[Error] Failed to decode frame data")
-                return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
-                
-        except ConnectionRefusedError:
-            print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
-            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
-        except Exception as e:
-            print(f"[Error] Failed to get frame: {e}")
-            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
-    
-    def _request_data(self, command):
-        try:
-            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-                s.connect((self.host, self.port))
-                s.send(command.encode())
-                return s.recv(4096).decode()
-        except ConnectionRefusedError:
-            print(f"[Error] Unable to retrieve '{command}' from {self.host}:{self.port}")
-            return "N/A"
-
-    def wait_until_motion_complete(self):
-        while self._request_data("get_is_moving") == "True":
-            time.sleep(0.1)
-    
-    def get_battery(self):
-        return self._request_data('get_battery')
-
-    def get_distance_tof(self):
-        return self._request_data('get_distance_tof')
-
-    def get_height(self):
-        return self._request_data('get_height')
-
-    def get_flight_time(self):
-        return self._request_data('get_flight_time')
-
-    def get_speed_x(self):
-        return self._request_data('get_speed_x')
-
-    def get_speed_y(self):
-        return self._request_data('get_speed_y')
-
-    def get_speed_z(self):
-        return self._request_data('get_speed_z')
-
-    def get_acceleration_x(self):
-        return self._request_data('get_acceleration_x')
-
-    def get_acceleration_y(self):
-        return self._request_data('get_acceleration_y')
-
-    def get_acceleration_z(self):
-        return self._request_data('get_acceleration_z')
-
-    def get_pitch(self):
-        return self._request_data('get_pitch')
-
-    def get_roll(self):
-        return self._request_data('get_roll')
-
-    def get_yaw(self):
-        return self._request_data('get_yaw')
-
-    def query_attitude(self):
-        return self._request_data('query_attitude')
-
-    def get_current_state(self):
-        return self._request_data('get_current_state')
-  
-    def connect(self):
-        self._send_command('connect')
-
-    def takeoff(self):
-        self._send_command('takeoff')
-
-    def land(self):
-        self._send_command('land')
-
-    def rotate_clockwise(self, degrees):
-        self._send_command(f'rotate_cw {degrees}')
-
-    def rotate_counter_clockwise(self, degrees):
-        self._send_command(f'rotate_ccw {degrees}')
-
-    def streamon(self):
-        self._send_command('streamon')
-
-    def streamoff(self):
-        self._send_command('streamoff')
-
-    def capture_frame(self):
-        self._send_command('capture_frame')
-
-    def emergency(self):
-        self._send_command('emergency')
-
-    def move_forward(self, distance):
-        self._send_command(f'forward {distance}')
-
-    def move_back(self, distance):
-        self._send_command(f'backward {distance}')
-
-    def move_left(self, distance):
-        self._send_command(f'left {distance}')
-
-    def move_right(self, distance):
-        self._send_command(f'right {distance}')
-
-    def move_up(self, distance):
-        self._send_command(f'up {distance}')
-
-    def move_down(self, distance):
-        self._send_command(f'down {distance}')
-
-    def flip_left(self):
-        self._send_command('flip_left')
-
-    def flip_right(self):
-        self._send_command('flip_right')
-
-    def flip_forward(self):
-        self._send_command('flip_forward')
-
-    def flip_back(self):
-        self._send_command('flip_back')
-
-    def go_xyz_speed(self, x, y, z, speed):
-        self._send_command(f"go {x} {y} {z} {speed}")
-
-    def curve_xyz_speed(self, x1, y1, z1, x2, y2, z2, speed):
-        self._send_command(f"curve {x1} {y1} {z1} {x2} {y2} {z2} {speed}")
-
-    def set_speed(self, speed):
-        self._send_command(f"set_speed {speed}")
-
-    def send_rc_control(self, left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity):
-        self._send_command(f"send_rc_control {left_right_velocity} {forward_backward_velocity} {up_down_velocity} {yaw_velocity}")
-
-
-    def end(self):
-        self._send_command('end')
-    
-    def get_info(self):
-        try:
-            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-                s.connect((self.host, self.port))
-                s.send(b'get_info')
-                return s.recv(4096).decode()
-        except ConnectionRefusedError:
-            print(f"[Error] Unable to retrieve info from {self.host}:{self.port}")
-            return "{}"
-
-    def initiate_throw_takeoff(self):
-        self._send_command('throw_takeoff')
+                if not size_data: return None
+                size = int.from_bytes(size_data, 'big')
+                data = b''
+                while len(data) < size:
+                    chunk = s.recv(min(size - len(data), 4096))
+                    if not chunk: break
+                    data += chunk
+                return cv2.imdecode(np.frombuffer(data, np.uint8), cv2.IMREAD_COLOR)
+        except: return None