DJITelloPy 控制无人机飞行

HSunR2024-10-19 9:43

python 复制代码

from pynput import keyboard
from djitellopy import Tello
import cv2, math, time


def on_press(key):
    char = key.char
    if char == 'w':
        print(123)
        tello.move_forward(20)
    if char == 'a':
        tello.move_left(20)
    if char == 's':
        tello.move_back(20)
    if char == 'd':
        tello.move_right(20)

    if char == 'q':
        tello.rotate_clockwise(-10)
    if char == 'e':
        tello.rotate_clockwise(10)
    if char == 'r':
        tello.move_up(20)
    if char == 'f':
        tello.move_down(20)
def on_release(key):
    print('释放了:{}'.format(key) )
    if key == keyboard.Key.esc:
        tello.end()
        return False
listener = keyboard.Listener(
    on_press=on_press,
    on_release=on_release,)


tello = Tello()
try:
    tello.connect()
    tello.takeoff()
    print("无人机起飞完成")

    # 开启一个键盘监听
    listener.start()
    time.sleep(50)
except Exception as e:
    # 如果出现异常，打印错误信息
    print(f"An error occurred: {e}")

finally:
    # 不论是否发生异常，最后都断开连接
    tello.end()

改进将监听之后对无人机的操作指令和键盘监听分为两个进程，不在同一个进程里执行，避免键盘监听进程阻塞

python 复制代码

from pynput import keyboard
from djitellopy import Tello
import cv2, math, time
from keyboardListener import KeyboardListener

tello = Tello()
try:
    tello.connect()
    tello.takeoff()
    print("无人机起飞完成")

    # 开启一个键盘监听
    listener = KeyboardListener()
    listener.start_listener()
    while True:
        pressSet = listener.get_pressKeySet()
        if pressSet == {'w'}:
            tello.move_forward(20)
        if pressSet == {'a'}:
            tello.move_left(20)
        if pressSet == {'s'}:
            tello.move_back(20)
        if pressSet == {'d'}:
            tello.move_right(20)

        if pressSet == {'q'}:
            tello.rotate_clockwise(-10)
        if pressSet == {'e'}:
            tello.rotate_clockwise(10)
        if pressSet == {'r'}:
            tello.move_up(20)
        if pressSet == {'f'}:
            tello.move_down(20)
        
        if pressSet == {keyboard.Key.esc}:
            listener.stop_listener()
            tello.land()
            break
except Exception as e:
    # 如果出现异常，打印错误信息
    print(f"An error occurred: {e}")

finally:
    # 不论是否发生异常，最后都断开连接
    tello.end()

仍然存在问题 tello.move api 调用是仍为进程阻断，无法实现连续移动