Adding Files

tello-demo/tello-demo.ino

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+#include<Tello.h>
+#include <ESP8266WiFi.h>
+
+// tello settings
+const char* DEFAULT_SSID = "deadgost";
+const char* DEFAULT_PW = "karan123";
+
+// creating tello object
+
+Tello tello;
+
+void setup() {
+ Serial.begin(9600);
+
+ //connecting to Wifi 
+ Serial.println("Connecting to ");
+ Serial.println(DEFAULT_SSID);
+ WiFi.begin(DEFAULT_SSID, DEFAULT_PW);
+ while (WiFi.status() != WL_CONNECTED) {
+ delay(500);
+ Serial.print(".");
+ }
+ Serial.println("");
+ Serial.println("WiFi connected");
+
+ // init tello 
+ tello.init();
+}
+
+void loop(){
+ // take off the drone
+ Serial.println("Take Off ");
+ tello.takeoff();
+ // wait 5 sec
+ delay(5000);
+ // land the drone
+ Serial.println("Land : ");
+ tello.land();
+ // wait for 10 sec
+ delay(10000);
+ // then again repaeat
+}

tello/Tello.h

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+#include <String>
+#include <String.h>
+#include <WiFiUDP.h>
+#include <ESP8266WiFi.h>
+
+using namespace std;
+
+class Tello {
+private:
+ /* data */
+ String msg="";
+ const char* TELLO_IP = "192.168.10.1";
+ const int PORT = 8889;
+ WiFiUDP Udp;
+ char packetBuffer[255]; //buffer to hold incoming packet
+ int networkState = 0;
+ bool check_range(int x, int min, int max)
+{
+ return (min < x && x < max);
+}
+public:
+ bool connected = false;
+
+ // Funtions
+ void sendMessage(String command) {
+ Udp.beginPacket(TELLO_IP, PORT);
+ // Udp.write(ReplyBuffer);
+ Udp.write((const unsigned char*)command.c_str(), command.length());
+ Udp.endPacket();
+ }
+ String listenMessage() {
+ int packetSize = Udp.parsePacket();
+ if (packetSize) {
+ Serial.print("Received packet of size ");
+ Serial.println(packetSize);
+ Serial.print("From ");
+ IPAddress remoteIp = Udp.remoteIP();
+ Serial.print(remoteIp);
+ Serial.print(", port ");
+ Serial.println(Udp.remotePort());
+
+ // read the packet into packetBufffer
+ int len = Udp.read(packetBuffer, 255);
+ if (len > 0) {
+ packetBuffer[len] = 0;
+ }
+ Serial.println("Contents:");
+ Serial.println(packetBuffer);
+ }
+ // this only works as tello's API doesn't return responses greater than 255 char
+ return (char*) packetBuffer;
+ }
+ void connect() {
+ Udp.begin(PORT);
+ sendMessage("command");
+ }
+ void init(){
+ connect();
+ }
+ void takeoff(){
+ sendMessage("takeoff");
+ msg = listenMessage();
+ Serial.println(msg);
+ }
+ void land(){
+ sendMessage("land");
+ msg = listenMessage();
+ Serial.println(msg);
+ }
+ void get_battery(){
+ sendMessage("battery?");
+ msg = listenMessage();
+ Serial.print("battery : ");
+ Serial.println(msg);
+ }
+ void startVideoStream()
+ {
+ sendMessage("streamon");
+ msg = listenMessage();
+ Serial.println(msg);
+ }
+ void stopVideoStream()
+ {
+ sendMessage("streamoff");
+ msg = listenMessage();
+ Serial.println(msg);
+ }
+ void turnOff()
+ {
+ sendMessage("emergency");
+ msg = listenMessage();
+ Serial.println(msg);
+ }
+ void up(int x)
+{
+ char buff[10];
+ string command = "up " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void down(int x)
+{
+ char buff[10];
+ string command = "down " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void left(int x)
+{
+ char buff[10];
+ string command = "left " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void right(int x)
+{
+ char buff[10];
+ string command = "right " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void forward(int x)
+{
+ char buff[10];
+ string command = "forward " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void back(int x)
+{
+ char buff[10];
+ string command = "back " + string(itoa(x,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void rotate_clockwise(int deg)
+{
+ char buff[10];
+ string command = "cw " + string(itoa(deg,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void rotate_anticlockwise(int deg)
+{
+ char buff[10];
+ string command = "ccw " + string(itoa(deg,buff,10));
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void flip_front()
+{
+ sendMessage("flip f");
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void flip_right()
+{
+ sendMessage("flip r");
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void flip_left()
+{
+ sendMessage("flip l");
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void flip_back()
+{
+ sendMessage("flip b");
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void setSpeed(int x)
+{
+ char buff[10];
+ string command = "speed " + string(itoa(x,buff,10));
+ string response ;
+ if((x < 10) || (x > 100))
+ {
+ //cout << "speed out of range " << endl;
+ return false;
+ }
+
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void changeWifi(string ssid, string password)
+{
+ string command = "wifi "+ ssid + " " +password;
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void getSpeed()
+{
+ string command = "speed?";
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+
+}
+void getTime()
+{
+ string command = "time?";
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void getHeight()
+{
+ string command = "height?";
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void getAcceleration()
+{
+ string command = "acceleration?";
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+void getWifiSnr()
+{
+ string command = "wifi?";
+ sendMessage(command);
+ msg = listenMessage();
+ Serial.println(msg);
+}
+ //“a” = left/right (-100-100)
+ //“b” = forward/backward (-100-100)
+ //“c” = up/down (-100-100)
+ //“d” = yaw (-100-100)
+ void sendRCcontrol(int a, int b, int c, int d)
+ {
+ if(!(check_range(a, -100, 100)) || !(check_range(b, -100, 100)) || !(check_range(c, -100, 100)) || !(check_range(d, -100, 100)))
+ {
+ Serial.println("Wrong Input for RC control, Range -100 to 100") ;
+ }
+ char buff[10];
+ String _a = String(itoa(a, buff, 10));
+ String _b = String(itoa(b, buff, 10));
+ String _c = String(itoa(c, buff, 10));
+ String _d = String(itoa(d, buff, 10));
+ _a += " ";
+ _b += " ";
+ _c += " ";
+ String command = "rc " + _a + _b + _c+ _d;
+ sendMessage(command);
+ msg = listenMessage();
+ }
+};