Project_Mapping.py

import cv2
from djitellopy import tello
import key_press_module as kp
from time import sleep
import numpy as np
import math



############### PARAMETERS #################
fSpeed = 117/10     # Forward Speed in cm/s (15cm/s)
aSpeed = 360/10     # Angular Speed Degree/s (50d/s)
interval = 0.25     # time interval in seconds

dInterval = fSpeed*interval
aInterval = aSpeed*interval
#############################################

x,y = 500, 500
a = 0
yaw = 0

kp.init()
me = tello.Tello()
me.connect()
print(me.get_battery())

points = [(0,0), (0,0)]

def getKeyboardInput():
    lr, fb, ud, yv = 0, 0, 0,0
    speed = 15
    aspeed = 50
    global x, y, yaw, a
    d = 0

    if kp.getKey("LEFT"):
        lr = -speed
        d = dInterval
        a = -180

    elif kp.getKey("RIGHT"):
        lr = speed
        d = -dInterval
        a = 180

    if kp.getKey("UP"):
        fb = speed
        d = dInterval
        a = 270

    elif kp.getKey("DOWN"):
        fb = -speed
        d = -dInterval
        a = -90

    if kp.getKey("w"):
        ud = speed
    elif kp.getKey("s"):
        ud = -speed

    if kp.getKey("a"):
        yv = -aspeed
        yaw -= aInterval

    elif kp.getKey("d"):
        yv = aspeed
        yaw += aInterval

    if kp.getKey("q"): me.land()
    elif kp.getKey("e"): me.takeoff()

    sleep(interval)
    a += yaw
    x += int(d * math.cos(math.radians(a)))
    y += int(d * math.sin(math.radians(a)))

    return [lr, fb, ud, yv, x, y]


def drawPoints(img, points):
    for point in points:
        cv2.circle(img, point, 5, (0, 0, 255), cv2.FILLED)

    cv2.circle(img, points[-1], 8, (0, 255, 0), cv2.FILLED)
    cv2.putText(img, f'({(points[-1][0]- 500)/100}, {(points[-1][1]-500)/100})m',
                (points[-1][0] + 10, points[-1][1] + 30), cv2.FONT_HERSHEY_PLAIN, 1,
                (255, 0, 255), 1)



while True:
    vals = getKeyboardInput()
    me.send_rc_control(vals[0], vals[1], vals[2], vals[3])

    img = np.zeros((1000, 1000, 3), np.uint8)
    if (points[-1][0] != vals[4] or points[-1][1] != vals[5]):
        points.append((vals[4], vals[5]))
    drawPoints(img, points)
    cv2.imshow("Output", img)
    cv2.waitKey(1)