Rust controls Dajiang programmable UAV Tello

The cheapest UAV brand under Dajiang tello It adopts Intel's visual processing chip , Although compared with the Majiang Emperor 、 Wudeng series , The function is simple . But compared with other brands such as Xiaomi and Huaqiangbei , It is a very useful toy .

Big frontier tello The UAV also provides a programmable interface , The government has supported Scratch Graphic programming . From this analysis , We can figure out tello Drones actually provide 2 Interface ：tello Text based interface used by UAV Application , And a non-public interface . Because it provides an open interface , To interact with graphical programming , Realize user's programming control . stay tellopilots Forum （ Wechat official account cannot be attached , Please search by yourself ）, Some players have done a great job , Yes tello edu app The programming interface of is reverse engineered , Thus, other functions such as python、golang etc. ……

But the protagonist of this article is Rust.

because tello UAVs communicate with operators through network protocols （ mobile phone 、 Handle, etc ） Interactive communication . therefore , We can combine its network protocol to communicate with UAV , And get available metadata .

Of course , In this way, we can expand our thinking , We can also provide a remote control framework , Use keyboard or joystick to control . Even simpler , The command combination is batch processing , Then simply trigger （ Imagine Hollywood blockbusters ）.

Let's simply try , Analysis from principle , To coding implementation ——

and tello UAV Communication

First , Please ensure that the UAV flips in a bright environment 、 rebound ……

secondly , Let's analyze and tello The communication principle of UAV ： When tello The UAV gets a startup command package (drone.connect(11111);） when ,tello No one has a chance in two UDP Send data on the channel . Command channel A（ port ：8889） And video channels B（WIP）（ port ：11111）. stay AP In mode ,tello The drone will default ip 192.168.10.1 appear .

Again , All send 、 All calls are completed synchronously . If you want to receive data , You must poll the drone . The following example ：

use tello::{Drone, Message, Package, PackageData, ResponseMsg};
use std::time::Duration;

fn main() -> Result<(), String> {
    let mut drone = Drone::new("192.168.10.1:8889");
    drone.connect(11111);
    loop {
        if let Some(msg) = drone.poll() {
            match msg {
                Message::Data(Package {data: PackageData::FlightData(d), ..}) => {
                    println!("battery {}", d.battery_percentage);
                }
                Message::Response(ResponseMsg::Connected(_)) => {
                    println!("connected");
                    drone.throw_and_go().unwrap();
                }
                _ => ()
            }
        }
        ::std::thread::sleep(Duration::new(0, 1_000_000_000u32 / 20));
    }
}

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Remote control

When polling the UAV , Not only to receive messages from drones , Some default settings will also be sent 、 Reply to confirm 、 Trigger keyframes , Or send real-time mobile commands and other remote control status .

We can use SDL open windows , Handle keyboard input , And show how to connect the game board or joystick .

But I'm going out to experiment , Remote control will be discussed later :-).

Thank you for reading .