#

# Copyright (c) 2018, Manfred Constapel

# This file is licensed under the terms of the MIT license.

#

#

# Pythonic DJI Ryze Tello Workbench: Example

#

# A simple telemetry script for gathering of data

# from several sensors (and filters), e.g.

#

# - acclerometer and gyroscope (aka IMU)

# - magnetometer (in conjunction with IMU aka AHRS)

# - barometer

# - temperature sensors for overheat protection

# - battery level

#

import socket

import sys

import signal

import time

from tinydb import TinyDB, Query

BUFFER_SIZE = 1024

STATE = ('mid', 'x', 'y', 'z', 'mpry',

'agx', 'agy', 'agz')

def collect_state(state):

return dic

if __name__ == '__main__':

print("telemetry...")

local = ('', 8890)

remote = ('192.168.10.1', 8889)

signal.signal(signal.SIGINT, signal.SIG_DFL)

socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

socket.bind(local)

socket.setblocking(1)

out = None

attempts = 3

for i in range(attempts):

socket.sendto('command'.encode('latin-1'), remote)

buffer = socket.recv(BUFFER_SIZE)

out = buffer.decode('latin-1')

if out == 'ok':

print('accepted')

break

else:

print('rejected')

time.sleep(0.5)

out = None

db = TinyDB('data/drone_db.json')

telemetry = db.table("Telemetry")

while out:

buffer = socket.recv(BUFFER_SIZE)

out = buffer.decode('latin-1')

out = out.replace('\n', '')

print("out ===>> " + out)

dic = collect_state(out)

t = time.time()

#print(''.join(str(dic).split(' ')), file=sys.stdout, flush=True)

print('time:{:4d}\tnick:{:>4}\troll:{:>4}\tyaw:{:>4}'.format(

int((t - int(t)) * 1000), dic['pitch'], dic['roll'], dic['yaw']),

file=sys.stdout, flush=True)

telemetry.insert(dic)

print('exit')