python - 跟随平方路径后，Tello无人机未降落在着陆垫上

我是初学者，正在为无人机编程，名为Tello。我已经开发了允许无人机从着陆区起飞并通过平方路径飞行的代码。但是，我面临一个问题。无人机不会降落在降落垫上。它着陆了一点，例如80-100厘米。

以下是tello.py文件的代码：

# This code is adopted from https://learn.droneblocks.io/p/tello-drone-programming-with-python/
# Import the necessary modules
import socket
import threading
import time


class Tello():

    def __init__(self):
        # IP and port of Tello
        self.tello_address = ('192.168.10.1', 8889)

        # IP and port of local computer
        self.local_address = ('', 9000)

        # Create a UDP connection that we'll send the command to
        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

        # Bind to the local address and port
        self.sock.bind(self.local_address)

        # Create and start a listening thread that runs in the background
        # This utilizes our receive functions and will continuously monitor for incoming messages
        self.receiveThread = threading.Thread(target=self.receive)
        self.receiveThread.daemon = True
        self.receiveThread.start()

    # Send the message to Tello and allow for a delay in seconds
    def send(self, message, delay):
        # Try to send the message otherwise print the exception
        try:
            self.sock.sendto(message.encode(), self.tello_address)
            print("Sending message: " + message)
        except Exception as e:
            print("Error sending: " + str(e))

        # Delay for a user-defined period of time
        time.sleep(delay)

    # Receive the message from Tello
    def receive(self):
        # Continuously loop and listen for incoming messages
        while True:
            # Try to receive the message otherwise print the exception
            try:
                response, ip_address = self.sock.recvfrom(128)
                print("Received message: " + response.decode(encoding='utf-8'))
            except Exception as e:
                # If there's an error close the socket and break out of the loop
                self.sock.close()
                print("Error receiving: " + str(e))
            break

以下是CustomFlight.py文件的代码：

import tello

# Billy
billy = tello.Tello()

# Each leg of the box will be 100 cm. Tello uses cm units by default.
box_leg_distance = 100

# Yaw 90 degrees
yaw_angle = 90

# Yaw clockwise (right)
yaw_direction = "ccw"

# Put Tello into command mode
billy.send("command", 3)


# Send the takeoff command
billy.send("takeoff", 5)

# Fly in the squared path
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)

# Send the land command
billy.send("land ", 4)

# Print message
print("Mission completed successfully!")

# Close the socket
billy.sock.close()

# Fly in the squared path的代码是否有问题？

无人机应该从着陆垫上起飞并着陆在着陆垫上。但是它没有降落在那里。

我该如何解决该问题？

最佳答案

看看您的无人机前进并旋转了多少次。它做了五次。因此，您的无人机在一个正方形中飞行，然后再向前延伸另一个长度。

只需删除以下块之一：

billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)