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clydemcqueen / flock2

ROS2 swarm controller for DJI Tello drones
BSD 3-Clause "New" or "Revised" License
67 stars 17 forks source link

Camera and SDK you are using #38

Open bvquerfurth opened 4 years ago

bvquerfurth commented 4 years ago

Hello there, I have come across this project and first of all have to say that it sounds amazing and has quite a potential. But now I have two questions:

  1. Do you use the downward camera to get the images of the ArUco markers?
  2. Does this only work with the Tello SDK1.0 (the normal tellos) or does it also works with the Tello SDK2.0 (Tello EDUs)? Thanks in advance
clydemcqueen commented 4 years ago

  1. flock2 uses the forward-facing camera. I don't know of a way to get images from the down-facing camera.

  2. flock2 relies on https://github.com/clydemcqueen/tello_ros. I've tested tello_ros with both SDK1 and SDK2 tellos.

Caveat: while experimenting we learned that the SDK1&2 actions are slow -- slow enough to make PID control difficult. We've considered (but haven't performed) several possible experiments:

a. try the non-published binary interface used by https://github.com/hanyazou/TelloPy

b. don't run a PID controller, instead let the drone fly dead-reckoning between waypoints, and use the ArUco markers to adjust the waypoints.