dronemaster 1.1.1

A modern alternative to the robomaster SDK

Dronemaster

a modern alternative to the Robomaster SDK for controlling DJI Tello EDU drones.

Api overview

This SDK only allows controlling one drone at a time.
To get started, create a dronemaster.Drone object an pass it the drones ip.
Before doing anything else, you have to call and await the drones initialize method to connect to the drone.
After establishing the connection, you can use many features like:

• drone.state_subscribe(...) to subscribe to the drones state (see dronemaster.DroneState)
• drone.serial_number() to get the serial number
• drone.battery() to get the current battery charge
• drone.tof() to read the current height
• drone.ext_tof() to read the distance forwards
• drone.keepalive() call this to keep the drone in the air without sending other commands
• drone.reboot() reboot the drone and disconnect it
• drone.matrix.set_brightness(...) set the brightness of the led matrix
• drone.matrix.set_pattern(...) to set the pattern of the led matrix
• drone.rgb.set(...) sets the color of the top led
• drone.rgb.pulse(..., ...) pulses the top led in the specific color
• drone.rgb.flash(..., ..., ...) flashed the top led between the two colors
• drone.video.streamon() to enable the video stream
• drone.video.streamoff() to stop the video stream
• drone.video.downvision(...) to switch the used camera
• drone.video.setfps(...) to set the cameras fps
• drone.video.setbitrate(...) to set the cameras bitrate in Mbps
• drone.video.setresolution(...) to set the front-facing cameras resolution
• drone.flight.takeoff() to takeoff
• drone.flight.land() to land
• drone.flight.rc(..., ..., ..., ...) to set roll, pitch, yaw and throttle
• drone.flight.stop() to stop moving and start hovering
• drone.flight.emergency() to stop all motors
  and many more...

Simulator

to simulate a simple drone, run python3 -m dronemaster in a seperate terminal and make a drone listen on your local ip (eg. 127.0.0.1)

Examples

Find all examples on GitHub in the examples directory.

Simple flight

...
# create the drone, but don't connect
ep_drone = dronemaster.Drone("192.168.10.1")

# mark the drone as active and connect to it
await ep_drone.initialize()

serial = await ep_drone.serial_number()
battery = await ep_drone.battery()
print(f"Connected with drone '{serial}' with {battery}%")

ep_flight = ep_drone.flight

# takeoff and wait for completion (up to 20s)
await ep_flight.takeoff()

# fly forwards 20cm
await ep_flight.forward(20, timeout=7)

# land again
await ep_flight.land()
...

Receiving the status

...
async def printState(state: dronemaster.DroneState):
    print(state) # {'pitch': 0, 'roll': 0, 'yaw': 35, 'vgx': 0, 'vgy': 0, 'vgz': 0, 'templ': 67, 'temph': 70, 'tof': 10, 'h': 0, 'bat': 81, 'baro': 516.17, 'time': 27, 'agx': 5.0, 'agy': 4.0, 'agz': -1000.0, 'last_update': 1781868417.0927145, 'delta': 0.027984142303466797}

# create the drone, but don't connect
ep_drone = dronemaster.Drone("192.168.10.1")

# mark the drone as active and connect to it
await ep_drone.initialize()

serial = await ep_drone.serial_number()
battery = await ep_drone.battery()
print(f"Connected with drone '{serial}' with {battery}%")

ep_drone.state_subscribe(printState)

await asyncio.sleep(5)
...

Receiving the video stream

...
# create the drone, but don't connect
ep_drone = dronemaster.Drone("192.168.10.1")

# mark the drone as active and connect to it
await ep_drone.initialize()

serial = await ep_drone.serial_number()
battery = await ep_drone.battery()
print(f"Connected with drone '{serial}' with {battery}%")

await ep_drone.video.streamon()

# uncomment to use the downwards black and white camera
#await ep_drone.video.downvision(True)

# listen on all ips on port 11111
cap = cv2.VideoCapture("udp://0.0.0.0:11111")

while True:
    if cap.isOpened():
        ret, frame = cap.read()
        cv2.imshow('live stream', frame)
        await asyncio.sleep(1/60) # important to allow the sdk to read new commands
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

cap.release()
cv2.destroyAllWindows()

ep_drone.reboot()
...