Tello无人机在按照正方形路径后无法降落在降落垫上

Question

我是一个初学者学习编程无人机，称为泰洛。我已经开发了允许无人机从着陆台起飞并通过正方形路径飞行的代码。然而，我面临一个问题。无人机没有降落在着陆台上。它落地有点向前，大约80-100厘米。你知道吗

以下是tello.py文件的代码：

# This code is adopted from https://learn.droneblocks.io/p/tello-drone-programming-with-python/
# Import the necessary modules
import socket
import threading
import time


class Tello():

    def __init__(self):
        # IP and port of Tello
        self.tello_address = ('192.168.10.1', 8889)

        # IP and port of local computer
        self.local_address = ('', 9000)

        # Create a UDP connection that we'll send the command to
        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

        # Bind to the local address and port
        self.sock.bind(self.local_address)

        # Create and start a listening thread that runs in the background
        # This utilizes our receive functions and will continuously monitor for incoming messages
        self.receiveThread = threading.Thread(target=self.receive)
        self.receiveThread.daemon = True
        self.receiveThread.start()

    # Send the message to Tello and allow for a delay in seconds
    def send(self, message, delay):
        # Try to send the message otherwise print the exception
        try:
            self.sock.sendto(message.encode(), self.tello_address)
            print("Sending message: " + message)
        except Exception as e:
            print("Error sending: " + str(e))

        # Delay for a user-defined period of time
        time.sleep(delay)

    # Receive the message from Tello
    def receive(self):
        # Continuously loop and listen for incoming messages
        while True:
            # Try to receive the message otherwise print the exception
            try:
                response, ip_address = self.sock.recvfrom(128)
                print("Received message: " + response.decode(encoding='utf-8'))
            except Exception as e:
                # If there's an error close the socket and break out of the loop
                self.sock.close()
                print("Error receiving: " + str(e))
            break

以下是CustomFlight.py文件的代码：

import tello

# Billy
billy = tello.Tello()

# Each leg of the box will be 100 cm. Tello uses cm units by default.
box_leg_distance = 100

# Yaw 90 degrees
yaw_angle = 90

# Yaw clockwise (right)
yaw_direction = "ccw"

# Put Tello into command mode
billy.send("command", 3)


# Send the takeoff command
billy.send("takeoff", 5)

# Fly in the squared path
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)
billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)

# Send the land command
billy.send("land ", 4)

# Print message
print("Mission completed successfully!")

# Close the socket
billy.sock.close()

# Fly in the squared path的代码有问题吗？你知道吗

无人机应该从着陆台起飞，降落在着陆台上。但它没有降落在那里。你知道吗

我如何解决这个问题？你知道吗

Answer 1

看看你的无人机向前旋转了多少次。它做了五次。因此，你的无人机在一个正方形中飞行，然后再向前飞行一段正方形。你知道吗

只需移除其中一个块：

billy.send("forward " + str(box_leg_distance), 4)
billy.send("ccw " + str(yaw_angle), 3)