# TELLO COMMAND

TELLO_CMD_CONN = 1

TELLO_CMD_CONN_ACK = 2

TELLO_CMD_SSID = 17 # pt48

TELLO_CMD_SET_SSID = 18 # pt68

TELLO_CMD_SSID_PASS = 19 # pt48

TELLO_CMD_SET_SSID_PASS = 20 # pt68

TELLO_CMD_REGION = 21 # pt48

TELLO_CMD_SET_REGION = 22 # pt68

TELLO_CMD_REQ_VIDEO_SPS_PPS = 37 # pt60

TELLO_CMD_TAKE_PICTURE = 48 # pt68

TELLO_CMD_SWITCH_PICTURE_VIDEO = 49 # pt68

TELLO_CMD_START_RECORDING = 50 # pt68

TELLO_CMD_SET_EV = 52 # pt48

TELLO_CMD_DATE_TIME = 70 # pt50

TELLO_CMD_STICK = 80 # pt60

TELLO_CMD_LOG_HEADER_WRITE = 4176 # pt50

TELLO_CMD_LOG_DATA_WRITE = 4177 # RX_O

TELLO_CMD_LOG_CONFIGURATION = 4178 # pt50

TELLO_CMD_WIFI_SIGNAL = 26 # RX_O

TELLO_CMD_VIDEO_BIT_RATE = 40 # pt48

TELLO_CMD_LIGHT_STRENGTH = 53 # RX_O

TELLO_CMD_VERSION_STRING = 69 # pt48

TELLO_CMD_ACTIVATION_TIME = 71 # pt48

TELLO_CMD_LOADER_VERSION = 73 # pt48

TELLO_CMD_STATUS = 86 # RX_O

TELLO_CMD_ALT_LIMIT = 4182 # pt48

TELLO_CMD_LOW_BATT_THRESHOLD = 4183 # pt48

TELLO_CMD_ATT_ANGLE = 4185 # pt48

TELLO_CMD_SET_JPEG_QUALITY = 55 # pt68

TELLO_CMD_TAKEOFF = 84 # pt68

TELLO_CMD_LANDING = 85 # pt68

TELLO_CMD_SET_ALT_LIMIT = 88 # pt68

TELLO_CMD_FLIP = 92 # pt70

TELLO_CMD_THROW_FLY = 93 # pt48

TELLO_CMD_PALM_LANDING = 94 # pt48

TELLO_CMD_PLANE_CALIBRATION = 4180 # pt68

TELLO_CMD_SET_LOW_BATTERY_THRESHOLD = 4181 # pt68

TELLO_CMD_SET_ATTITUDE_ANGLE = 4184 # pt68

TELLO_CMD_ERROR1 = 67 # RX_O

TELLO_CMD_ERROR2 = 68 # RX_O

TELLO_CMD_FILE_SIZE = 98 # pt50

TELLO_CMD_FILE_DATA = 99 # pt50

TELLO_CMD_FILE_COMPLETE = 100 # pt48

TELLO_CMD_HANDLE_IMU_ANGLE = 90 # pt48

TELLO_CMD_SET_VIDEO_BIT_RATE = 32 # pt68

TELLO_CMD_SET_DYN_ADJ_RATE = 33 # pt68

TELLO_CMD_SET_EIS = 36 # pt68

TELLO_CMD_SMART_VIDEO_START = 128 # pt68

TELLO_CMD_SMART_VIDEO_STATUS = 129 # pt50

TELLO_CMD_BOUNCE = 4179 # pt68

# Smart Video

TELLO_SMART_VIDEO_STOP = 0x00

TELLO_SMART_VIDEO_START = 0x01

TELLO_SMART_VIDEO_360 = 0x01

TELLO_SMART_VIDEO_CIRCLE = 0x02

TELLO_SMART_VIDEO_UP_OUT = 0x03

# PORT

TELLO_PORT_VIDEO = 6037

# CRC TABLES

TBL_CRC16 = [

0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5,

0xe97e, 0xf8f7,

0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64,

0xf9ff, 0xe876,

0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7,

0xc87c, 0xd9f5,

0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66,

0xd8fd, 0xc974,

0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1,

0xab7a, 0xbaf3,

0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960,

0xbbfb, 0xaa72,

0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3,

0x8a78, 0x9bf1,

0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,

0x9af9, 0x8b70,

0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed,

0x6d76, 0x7cff,

0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c,

0x7df7, 0x6c7e,

0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef,

0x4c74, 0x5dfd,

0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e,

0x5cf5, 0x4d7c,

0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9,

0x2f72, 0x3efb,

0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68,

0x3ff3, 0x2e7a,

0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb,

0x0e70, 0x1ff9,

0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a,

0x1ef1, 0x0f78

]

TBL_CRC8 = [

0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,

0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,

0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,

0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,

0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,

0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,

0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,

0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,

0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,

0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,

0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,

0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,

0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,

0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,

0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,

0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,

]

NEW_ALT_LIMIT = 30

def __init__(self, tello_ip='192.168.10.1', portCmd=8889):

self.pill2kill = threading.Event()

self.task20ms = TimerTask(0.02, self._timerTask, "World")

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

self.addrCmd = (tello_ip, portCmd)

self.sockCmd.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

self.sockCmd.settimeout(.5)

self.threadCmdRX = threading.Thread(target=self._threadCmdRX, args=(self.pill2kill, "task"))

self.threadCmdRX.start()

self.threadVideoRX = threading.Thread(target=self._threadVideoRX, args=(self.pill2kill, "task"))

self.threadVideoRX.start()

self.seqID = 0;

self.stickData = 0

self.rcCtr = 0;

self._sendCmd(0x00, self.TELLO_CMD_CONN, None)

def __del__(self):

self.stop()

def stop(self):

self.task20ms.stop()

self.pill2kill.set()

self.sockCmd.close()

def setStickData(self, fast, roll, pitch, thr, yaw):

self.stickData = (fast << 44) | (yaw << 33) | (thr << 22) | (pitch << 11) | (roll)

def takeOff(self):

self._sendCmd(0x68, self.TELLO_CMD_TAKEOFF, None)

def land(self):

self._sendCmd(0x68, self.TELLO_CMD_LANDING, bytearray([0x00]))

def setSmartVideoShot(self, mode, isStart):

data = self.TELLO_SMART_VIDEO_START if isStart == True else self.TELLO_SMART_VIDEO_STOP

data = data | (mode << 2)

self._sendCmd(0x68, self.TELLO_CMD_SMART_VIDEO_START, bytearray([data]));

def bounce(self, isStart):

data = 0x30 if isStart == True else 0x31;

self._sendCmd(0x68, self.TELLO_CMD_BOUNCE, bytearray([data]));

###############################################################################

# utility functions

###############################################################################

def _calcCRC16(self, buf, size):

i = 0

seed = 0x3692

while size > 0:

seed = self.TBL_CRC16[(seed ^ buf[i]) & 0xff] ^ (seed >> 8)

i = i + 1

size = size - 1

return seed

def _calcCRC8(self, buf, size):

i = 0

seed = 0x77

while size > 0:

seed = self.TBL_CRC8[(seed ^ buf[i]) & 0xff]

i = i + 1

size = size - 1

return seed

def _printArray(self, buf, size=None):

i = 0

if size is None:

size = len(buf)

while size > 0:

print('0x' + format(buf[i], '02x') + ', ')

i = i + 1

size = size - 1

print('')

def _buildPacket(self, pacType, cmdID, seqID, data):

size = len(data) if data != None else 0

size = 11 + size

bb = ByteBuffer.allocate(size)

bb.clear()

bb.put_ULInt8(0xCC)

bb.put_ULInt16(size << 3)

crc8 = self._calcCRC8(bb.get_array(), 3)

bb.put_ULInt8(crc8);

bb.put_ULInt8(pacType);

bb.put_ULInt16(cmdID);

bb.put_ULInt16(seqID);

if data:

bb.put(data)

crc16 = self._calcCRC16(bb.get_array(), size - 2);

bb.put_ULInt16(crc16)

bb.flip()

return bb

def _parsePacket(self, buf):

dataSize = 0

cmdID = 0

if len(buf) >= 11:

bb = ByteBuffer.wrap(buf)

mark = bb.get_ULInt8()

if mark == 0xCC:

size = bb.get_ULInt16() >> 3

crc8 = bb.get_ULInt8()

calcCRC8 = self._calcCRC8(buf, 3)

if crc8 != calcCRC8:

print('wrong CRC8 {0:02x / 1:02x}'.format(crc8, calcCRC8))

pacType = bb.get_ULInt8()

cmdID = bb.get_ULInt16()

seqID = bb.get_ULInt16()

dataSize = size - 11;

data = None

# if dataSize > 0:

# data = bytearray(dataSize)

# bb.get(data)

bb.set_position(size - 2)

crc16 = bb.get_ULInt16()

calcCRC16 = self._calcCRC16(buf, size - 2);

if crc16 != calcCRC16:

print('wrong CRC8 {0:04x / 1:04x}'.format(crc16, calcCRC16))

# print 'pt:{0:02x}, cmd:{1:4d}={2:04x}, seq:{3:04x}, data_sz:{4:d} - '.format(pacType, cmdID, cmdID, seqID, dataSize)

else:

if mark == 0x63:

ack = ByteBuffer.allocate(11)

ack.put_bytes('conn_ack:'.encode())

ack.put_ULInt16(self.TELLO_PORT_VIDEO)

ack.flip()

if ack.get_array() == buf:

cmdID = self.TELLO_CMD_CONN_ACK

else:

print('wrong video port !!')

else:

print('wrong mark !! {0:02x}'.format(mark))

elif buf != None:

print('wrong packet length={0:d}, 1st byte={1:02x}'.format(len(buf), buf[0]))

return cmdID

def _sendCmd(self, pacType, cmdID, data):

bb = None

payload = None

out = None

seq = 0

len = 0

if cmdID == self.TELLO_CMD_CONN:

out = ByteBuffer.allocate(11)

out.clear()

out.put_bytes('conn_req:'.encode())

out.put_ULInt16(self.TELLO_PORT_VIDEO);

self.seqID = self.seqID + 1

elif cmdID == self.TELLO_CMD_STICK:

now = datetime.datetime.now()

bb = ByteBuffer.allocate(11)

bb.clear()

# put 64bit stick data

pp = ByteBuffer.allocate(8)

pp.put_ULInt64(self.stickData)

pp.flip()

# get 48bit data only

bb.put(pp.get_array(), 0, 6);

bb.put_ULInt8(now.hour)

bb.put_ULInt8(now.minute)

bb.put_ULInt8(now.second)

bb.put_ULInt16(now.microsecond & 0xffff)

seq = 0

elif cmdID == self.TELLO_CMD_DATE_TIME:

seq = self.seqID

now = datetime.datetime.now()

bb = ByteBuffer.allocate(15)

bb.clear()

bb.put_ULInt8(0x00)

bb.put_ULInt16(now.year)

bb.put_ULInt16(now.month)

bb.put_ULInt16(now.day)

bb.put_ULInt16(now.hour)

bb.put_ULInt16(now.minute)

bb.put_ULInt16(now.second)

bb.put_ULInt16(now.microsecond & 0xffff)

self.seqID = self.seqID + 1

elif cmdID == self.TELLO_CMD_REQ_VIDEO_SPS_PPS:

seq = 0

else:

seq = self.seqID

self.seqID = self.seqID + 1

if bb != None:

payload = bb.get_array()

else:

payload = data

if out == None:

out = self._buildPacket(pacType, cmdID, seq, payload)

self.sockCmd.sendto(out.get_array(), self.addrCmd)

return None

###############################################################################

# CommandRX Thread

###############################################################################

def _threadCmdRX(self, stop_event, arg):

# print '_threadCmdRX started !!!'

statusCtr = 0

data = bytearray(1024)

payload = None

while not stop_event.is_set():

try:

size, addr = self.sockCmd.recvfrom_into(data)

except socket.timeout as e:

time.sleep(.5)

continue

except socket.error as e:

print(e)

continue

else:

cmdID = self._parsePacket(data[:size])

payload = ByteBuffer.wrap(data[9:size - 1])

if cmdID == self.TELLO_CMD_CONN_ACK:

print('connection successful !')

# self._printArray(data[:size])

elif cmdID == self.TELLO_CMD_DATE_TIME:

self._sendCmd(0x50, cmdID, None)

elif cmdID == self.TELLO_CMD_STATUS:

if statusCtr == 3:

self._sendCmd(0x60, self.TELLO_CMD_REQ_VIDEO_SPS_PPS, None)

self._sendCmd(0x48, self.TELLO_CMD_VERSION_STRING, None)

self._sendCmd(0x48, self.TELLO_CMD_SET_VIDEO_BIT_RATE, None)

self._sendCmd(0x48, self.TELLO_CMD_ALT_LIMIT, None)

self._sendCmd(0x48, self.TELLO_CMD_LOW_BATT_THRESHOLD, None)

self._sendCmd(0x48, self.TELLO_CMD_ATT_ANGLE, None)

self._sendCmd(0x48, self.TELLO_CMD_REGION, None)

self._sendCmd(0x48, self.TELLO_CMD_SET_EV, bytearray([0x00]));

statusCtr = statusCtr + 1

elif cmdID == self.TELLO_CMD_VERSION_STRING:

if size >= 42:

print('Version:' + data[10:30].decode())

elif cmdID == self.TELLO_CMD_SMART_VIDEO_START:

if payload.get_remaining() > 0:

print('smart video start')

elif cmdID == self.TELLO_CMD_ALT_LIMIT:

if payload.get_remaining() > 0:

payload.get_ULInt8() # 0x00

height = payload.get_ULInt16()

print('alt limit : {0:2d} meter'.format(height))

if height != self.NEW_ALT_LIMIT:

print('set new alt limit : {0:2d} meter'.format(self.NEW_ALT_LIMIT))

self._sendCmd(0x68, self.TELLO_CMD_SET_ALT_LIMIT,

bytearray([self.NEW_ALT_LIMIT & 0xff, (self.NEW_ALT_LIMIT >> 8) & 0xff]));

elif cmdID == self.TELLO_CMD_SMART_VIDEO_STATUS:

if payload.get_remaining() > 0:

resp = payload.get_ULInt8()

dummy = resp & 0x07

start = (resp >> 3) & 0x03

mode = (resp >> 5) & 0x07

print('smart video status - mode:{0:d}, start:{1:d}'.format(mode, start))

self._sendCmd(0x50, self.TELLO_CMD_SMART_VIDEO_STATUS, bytearray([0x00]));

# else:

# for i in data:

# print hex(ord(i)),

# print ''

# print '_threadCmdRX terminated !!!'

###############################################################################

# VideoRX Thread

###############################################################################

def _threadVideoRX(self, stop_event, arg):

videoPlayer = Popen(

['mplayer', '-fps', '30', '-', '-vo', 'jpeg:outdir=temp'],

stdin=PIPE)

# print '_threadVideoRX started !!!'

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

addrVideo = ('192.168.10.2', self.TELLO_PORT_VIDEO)

sockVideo.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

sockVideo.settimeout(.5)

sockVideo.bind(addrVideo)

data = bytearray(4096)

fileVideo = open('video.h264', 'wb')

isSPSRcvd = False

while not stop_event.is_set():

try:

size, addr = sockVideo.recvfrom_into(data)

except socket.timeout as e:

time.sleep(.5)

continue

except socket.error as e:

print(e)

break

else:

if size > 6 and data[2] == 0x00 and data[3] == 0x00 and data[4] == 0x00 and data[5] == 0x01:

nal_type = data[6] & 0x1f

# print 'NAL=', nal_type

if nal_type == 7:

isSPSRcvd = True;

# drop 2 bytes

if isSPSRcvd:

fileVideo.write(data[2:size])

videoPlayer.stdin.write(data[2:size])

sockVideo.close()

fileVideo.close()

# print '_threadVideoRX terminated !!!'

###############################################################################

# timerTask

###############################################################################

def _timerTask(self, arg):

self._sendCmd(0x60, self.TELLO_CMD_STICK, None)

self.rcCtr = self.rcCtr + 1

# every 1sec

if self.rcCtr % 50 == 0: