ADD file via upload

main.py

@@ -0,0 +1,87 @@
+# This is a sample Python script.
+
+# Press Shift+F10 to execute it or replace it with your code.
+# Press Double Shift to search everywhere for classes, files, tool windows, actions, and settings.
+
+
+import logging
+import time
+import cv2
+from djitellopy import tello
+import KeyPressMoudle as kp  # 用于获取键盘按键
+from time import sleep
+
+def getKeyboardInput(drone, speed, image):
+    lr, fb, ud, yv = 0, 0, 0, 0
+    key_pressed = 0
+    if kp.getKey("e"):
+        cv2.imwrite('D:/snap-{}.jpg'.format(time.strftime("%H%M%S", time.localtime())), image)
+    if kp.getKey("UP"):
+        Drone.takeoff()
+    elif kp.getKey("DOWN"):
+        Drone.land()
+
+    if kp.getKey("j"):
+        key_pressed = 1
+        lr = -speed
+    elif kp.getKey("l"):
+        key_pressed = 1
+        lr = speed
+
+    if kp.getKey("i"):
+        key_pressed = 1
+        fb = speed
+    elif kp.getKey("k"):
+        key_pressed = 1
+        fb = -speed
+
+    if kp.getKey("w"):
+        key_pressed = 1
+        ud = speed
+    elif kp.getKey("s"):
+        key_pressed = 1
+        ud = -speed
+
+    if kp.getKey("a"):
+        key_pressed = 1
+        yv = -speed
+    elif kp.getKey("d"):
+        key_pressed = 1
+        yv = speed
+    InfoText = "battery : {0}% height: {1}cm   time: {2}".format(drone.get_battery(), drone.get_height(), time.strftime("%H:%M:%S",time.localtime()))
+    cv2.putText(image, InfoText, (10, 20), font, fontScale, (0, 0, 255), lineThickness)
+    if key_pressed == 1:
+        InfoText = "Command : lr:{0}% fb:{1} ud:{2} yv:{3}".format(lr, fb, ud, yv)
+        cv2.putText(image, InfoText, (10, 40), font, fontScale, (0, 0, 255), lineThickness)
+
+    drone.send_rc_control(lr, fb, ud, yv)
+
+# 主程序
+# 摄像头设置
+Camera_Width = 720
+Camera_Height = 480
+DetectRange = [6000, 11000]  # DetectRange[0] 是保持静止的检测人脸面积阈值下限，DetectRange[0] 是保持静止的检测人脸面积阈值上限
+PID_Parameter = [0.5, 0.0004, 0.4]
+pErrorRotate, pErrorUp = 0, 0
+
+# 字体设置
+font = cv2.FONT_HERSHEY_SIMPLEX
+fontScale = 0.5
+fontColor = (255, 0, 0)
+lineThickness = 1
+
+# Tello初始化设置
+Drone = tello.Tello()  # 创建飞行器对象
+Drone.connect()  # 连接到飞行器
+Drone.streamon()  # 开启视频传输
+Drone.LOGGER.setLevel(logging.ERROR)  # 只显示错误信息
+sleep(5)  #  等待视频初始化
+kp.init()  # 初始化按键处理模块
+
+
+while True:
+    OriginalImage = Drone.get_frame_read().frame
+    Image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
+    getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
+    cv2.imshow("Drone Control Centre", Image)
+    cv2.waitKey(1)