Sentdex / DJIControlClient

Python Wrapper over API calls to DJI Control Server

DJI Control Client

A Python Wrapper over the API Calls to the DJIControlServer.

Classes

1. DJIControlClient: Main class with all control methods on it.
2. VelocityProfile: Enum for velocity profile with options CONSTANT, TRAPEZOIDAL and S_CURVE.
3. ControlMode: Enum for control mode with options POSITION and VELOCITY.

Return Types

Following are the possible (non-primitive) return types from each method. Which of these is returned by the method can be found in the API reference:

1. CommandCompleted: A dictionary of the shape: {completed: bool, errorDescription: Union[str|None]}. Generally returned by methods that cause the drone to change state or perform an action. If completed is True, the action was completed successfully. In this case, errorDescription would be None. If completed is False, the action wasn't successfully executed, and the reason shows up as a string in errorDescription.

2. VelocityCommand: A dictionary of the shape {velX: float, velY: float, velZ: float, yawRate: float}. The X, Y and Z velocities are in $m/s$ and the Yaw rate is in $deg/s$.

3. IMUState: A dictionary of the shape {velX: float, velY: float, velZ: float, roll: float, pitch: float, yaw: float}. The X, Y and Z velocities are in $m/s$ and roll, pitch and yaw are in degrees.

DJIControlClient:

• DJIControlClient(ip: str, port: int): Takes server IP and Port as parameters and initiates connection. All subsequent methods must be called on the initiated instance.

• takeOff(): Sends takeoff signal to the drone. Returns a response ONCE TAKEOFF IS INITIATED, NOT COMPLETED (thus make sure to add a sufficient delay after the takeoff call before making any other calls). Returns a dict with completion status, and error message if any.

• land(): Sends land signal to the drone. Returns a response ONCE LANDING IS INITIATED, NOT COMPLETED (thus make sure to add a sufficient delay after the landing call before making any other calls). If landing protection is enabled, this will cause the drone to descent to 0.3m off the ground and wait for user confirmation to completed landing. If landing protection is disabled, then it causes the drone to land immidiately.

• confirmLanding(): Sends landing confirmation to the drone. Returns a response ONCE LANDING CONFIRMATION IS INITIATED, NOT COMPLETED (thus make sure to add sufficient delay after the landing call before making any other calls). This to be called after calling land() only if landing protection is enabled.

• getLandingProtectionState(): Returns True if landing protection is enabled, False if it isn't and CommandCompleted with error description if it is unabled to fetch.

• setLandingProtectionState(enabled: bool): enabled=True enables landing protection and enabled=False disables landing protection. Returns CommandCompleted.

• getVelocityProfile(): Returns VelocityProfile.CONSTANT, VelocityProfile.TRAPEZOIDAL or VelocityProfile.S_CURVE based on the value set on the server. Returns CommandCompleted in case of an error.

• setVelocityProfile(profile: VelocityProfile): Sets the given velocity profile on the server. Returns CommandCompleted.

• getControlMode(): Returns ControlMode.POSITION or ControlMode.VELOCITY based on the value set on the server. Returns CommandCompleted in case of an error.

• setControlMode(mode: ControlMode): Sets the given control mode on the server. Returns CommandCompleted.

• getMaxSpeed(): Returns the max speed set on the server in $m/s$ (used for positional control) as a float. Returns CommandCompleted in case of an error.

• setMaxSpeed(speed: float): Sets the max speed on the server in $m/s$ (used for positional control) based on the given speed. Returns CommandCompleted.

• getMaxAngularSpeed(): Returns the max angular speed set on the server in $deg/s$ (used for positional control) as a float. Returns CommandCompleted in case of an error.

• setMaxAnglularSpeed(speed: float): Sets the max angular speed on the server in $deg/s$ (used for positional control) based on the given speed. Returns CommandCompleted.

• startVelocityControl(): Starts a coroutine on the server that makes the drone continuously follow the currently set velocity command. Can only be called in VELOCITY control mode. Returns CommandCompleted.

• setVelocityCommand(xVel: float, yVel: float, zVel: float, yawRate: float): Sets the current velocity command based on the input X, Y and Z velocities and Yaw Rate. Can only be called after calling startVelocityControl() and when in VELOCITY control mode. Returns CommandCompleted.

• stopVelocityControl(): Stops the coroutine on the server that makes the drone continuously follow the currently set velocity command. Can only be called in VELCOITY control mode. Returns CommandCompleted.

• getCurrentVelocityCommand: Returns the current velocity command that the drone is following if startVelocityControl() was already called, or will follow once startVelocityControl() is called, as VelocityCommand. Returns CommandCompleted in case of an error.

• moveUp(distance: float): Makes the drone move up the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered.

• moveDown(distance: float): Makes the drone move down the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered. Careful while using this method, since there is no ground checking done if the distance > altitude of the drone.

• moveForward(distance: float): Makes the drone move forward the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered.

• moveBackward(distance: float): Makes the drone move backward the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered.

• moveLeft(distance: float): Makes the drone move left the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered.

• moveRight(distance: float): Makes the drone move right the given distance in metres. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone covers the given distance, or an error is encountered.

• rotateClockwise(angle: float): Makes the drone rotate clockwise the given angle in degrees. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone rotates the given angle, or an error is encountered.

• rotateCounterClockwise(angle: float): Makes the drone rotate counter clockwise the given angle in degrees. Can only be called in POSITION control mode. Returns CommandCompleted either when the drone rotates the given angle, or an error is encountered.

• startCollectingIMUState(interval: int): Starts a coroutine on the server that records the IMU state every interval milliseconds. Returns CommandCompleted.

• stopCollectingIMUState(): Stops the coroutine on the server that records the IMU states. Returns CommandCompleted.

• getCollectedIMUStates(): Returns a list of IMUState collected between the calls to startCollectingIMUState and stopCollectingIMUState. Returns CommandCompleted in case of an error.

• clearCollectedIMUStates(): Clears the collected IMU states on the server.

• getCurrentIMUState(): Returns the current IMU states as IMUState. Returns CommandCompleted in case of an error.

• getHeading(): Returns the current heading from true north in degrees. Returns CommandCompleted in case of an error.

• captureShot(): Takes a single shot from the drone's camera and returns CommandCompleted.

• pitchGimbal(angle: float): Pitches the gimbal. Restricted between 0 and 90 degrees, where 0 is aligned with the heading of the drone and 90 is perpendicularly downwards. Returns CommandCompleted.

• fetchPreviewFromIndex(index: int): Returns the Base64 encoded string of the low-res preview of the media item at the given index. The media items are sorted from most recent to least recent before indexing. Returns CommandCompleted in case of an error.