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