tello 0.6.3

SDK for intel DJI Tello drone using the native api
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200

use super::PackageData;
use byteorder::{LittleEndian, ReadBytesExt};
use std::io::{BufRead, Cursor, Seek, SeekFrom};

/// Represents the last received meta data from the drone
///
#[derive(Debug, Clone, Default)]
pub struct DroneMeta {
    flight: Option<FlightData>,
    wifi: Option<WifiInfo>,
    light: Option<LightInfo>,
}

impl DroneMeta {
    /// returns an option of the FlightData.
    ///
    /// this will always represent the last state event if the network connection is dropped
    pub fn get_flight_data(&self) -> Option<FlightData> {
        self.flight.clone()
    }
    /// returns an option of the WifiInfo.
    /// stang 90% is max in the AP mode
    ///
    /// this will always represent the last state event if the network connection is dropped
    pub fn get_wifi_info(&self) -> Option<WifiInfo> {
        self.wifi.clone()
    }
    /// returns an option of the LightInfo.
    ///
    /// this will always represent the last state event if the network connection is dropped
    pub fn get_light_info(&self) -> Option<LightInfo> {
        self.light.clone()
    }
    /// applies the package to the current data.
    /// It ignore non Meta package data and just overwrite the current metadata
    pub fn update(&mut self, package: &PackageData) {
        match package {
            PackageData::FlightData(fd) => self.flight = Some(fd.clone()),
            PackageData::WifiInfo(wifi) => self.wifi = Some(wifi.clone()),
            PackageData::LightInfo(li) => self.light = Some(li.clone()),
            _ => (),
        };
    }
}

fn int16(val0: u8, val1: u8) -> i16 {
    if val1 != 0 {
        (((val0 as i32) | ((val1 as i32) << 8)) - 0x10000) as i16
    } else {
        (val0 as i16) | ((val1 as i16) << 8)
    }
}

#[derive(Clone)]
pub struct FlightData {
    pub height: i16,
    pub north_speed: i16,
    pub east_speed: i16,
    pub ground_speed: i16,
    pub fly_time: i16,
    pub imu_state: bool,
    pub pressure_state: bool,
    pub down_visual_state: bool,
    pub power_state: bool,
    pub battery_state: bool,
    pub gravity_state: bool,
    pub wind_state: bool,
    pub imu_calibration_state: u8,
    pub battery_percentage: u8,
    pub drone_battery_left: i16,
    pub drone_fly_time_left: i16,

    pub em_sky: bool,
    pub em_ground: bool,
    pub em_open: bool,
    pub drone_hover: bool,
    pub outage_recording: bool,
    pub battery_low: bool,
    pub battery_lower: bool,
    pub factory_mode: bool,

    pub fly_mode: u8,
    pub throw_fly_timer: u8,
    pub camera_state: u8,
    pub electrical_machinery_state: u8,
    pub front_in: bool,
    pub front_out: bool,
    pub front_lsc: bool,
    pub temperature_height: bool,
}

impl std::fmt::Debug for FlightData {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        write!(
            f,
            "FlightData {{ alt: {}, north_sp: {}, east_sp: {}, ground_sp: {}, fly_time: {}, imu_cal: {}, battery: {}, battery_left: {}, fly_time_left: {}, fly_mode: {}, throw_fly_timer: {}, camera: {}, em: {}}}",
            self.height, self.north_speed, self.east_speed, self.ground_speed, self.fly_time, self.imu_calibration_state, self.battery_percentage,
            self.drone_battery_left, self.drone_fly_time_left, self.fly_mode, self.throw_fly_timer, self.camera_state, self.electrical_machinery_state
        )
    }
}

impl From<Vec<u8>> for FlightData {
    fn from(data: Vec<u8>) -> FlightData {
        FlightData {
            height: int16(data[0], data[1]),
            north_speed: int16(data[2], data[3]),
            east_speed: int16(data[4], data[5]),
            ground_speed: int16(data[6], data[7]),
            fly_time: int16(data[8], data[9]),

            imu_state: ((data[10]) & 0x1) != 0,
            pressure_state: ((data[10] >> 1) & 0x1) != 0,
            down_visual_state: ((data[10] >> 2) & 0x1) != 0,
            power_state: ((data[10] >> 3) & 0x1) != 0,
            battery_state: ((data[10] >> 4) & 0x1) != 0,
            gravity_state: ((data[10] >> 5) & 0x1) != 0,
            wind_state: ((data[10] >> 7) & 0x1) != 0,

            imu_calibration_state: data[11],
            battery_percentage: data[12],
            drone_battery_left: int16(data[13], data[14]),
            drone_fly_time_left: int16(data[15], data[16]),

            em_sky: ((data[17]) & 0x1) != 0,
            em_ground: ((data[17] >> 1) & 0x1) != 0,
            em_open: ((data[17] >> 2) & 0x1) != 0,
            drone_hover: ((data[17] >> 3) & 0x1) != 0,
            outage_recording: ((data[17] >> 4) & 0x1) != 0,
            battery_low: ((data[17] >> 5) & 0x1) != 0,
            battery_lower: ((data[17] >> 6) & 0x1) != 0,
            factory_mode: ((data[17] >> 7) & 0x1) != 0,

            fly_mode: data[18],
            throw_fly_timer: data[19],
            camera_state: data[20],
            electrical_machinery_state: data[21],

            front_in: ((data[22]) & 0x1) != 0,
            front_out: ((data[22] >> 1) & 0x1) != 0,
            front_lsc: ((data[22] >> 2) & 0x1) != 0,

            temperature_height: ((data[23]) & 0x1) != 0,
        }
    }
}

/// current strength of the wifi signal and distortion.
/// When the drone is in the AP mode, the max strength value is 90
#[derive(Debug, Clone)]
pub struct WifiInfo {
    strength: u8,
    disturb: u8,
}
impl From<Vec<u8>> for WifiInfo {
    /// parse the incoming network package
    fn from(data: Vec<u8>) -> WifiInfo {
        WifiInfo {
            strength: data[0],
            disturb: data[1],
        }
    }
}

/// some features like a flip or bouncing is only available when the battery is charged and there is enough light
/// check the FlightData for the battery state
#[derive(Debug, Clone)]
pub struct LightInfo {
    good: bool,
}
impl From<Vec<u8>> for LightInfo {
    /// parse the incoming network package
    fn from(data: Vec<u8>) -> LightInfo {
        LightInfo { good: data[0] == 0 }
    }
}

/// not complete parse log message. This message is send frequently from the drone
#[derive(Debug, Clone)]
pub struct LogMessage {
    pub id: u16,
    pub message: String,
}
impl From<Vec<u8>> for LogMessage {
    /// parse the incoming network package
    fn from(data: Vec<u8>) -> LogMessage {
        let mut cur = Cursor::new(data);
        let id: u16 = cur.read_u16::<LittleEndian>().unwrap();
        cur.seek(SeekFrom::Start(19)).unwrap();
        let mut msg: Vec<u8> = Vec::new();
        cur.read_until(0, &mut msg).unwrap();
        LogMessage {
            id,
            message: String::from_utf8(msg)
                .unwrap()
                .trim_matches('\u{0}')
                .to_string(),
        }
    }
}