DJI Tello Follower algorithm

[fneufken]

Hi all,

I am currently developing a simulation of a swarm of DJI Tello drones in ROS2 Foxy and Gazebo using the following plugin: GitHub - clydemcqueen/tello_ros: C++ ROS2 driver for DJI Tello drones [requires Foxy and Gazebo Classic -- both EOL]. Using this plugin, I can send rc commands to the virtual drones. I now want follower drones to follow a mother drone while keeping a relative position. I calculate the difference between the target position and the current position of the follower drone but I have trouble translating it to a rc command I can send to the drone. I simplied the problem as pitch roll and yaw are always zero and z value is constant. Also, in the plugin there is an error in the rc command: the first number is forward/backward and the second number is left/right.

def calculate_rc_command(self):
target_position = np.array([self.mother_position.x, self.mother_position.y]) + self.relative_position
direction = target_position - np.array([self.position.x, self.position.y])

# Calculate velocity components

# Construct rc command
rc_command = f"rc {vx} {vy} 0 0"
return rc_command

Could somebody help me to find a way to construct the rc commands?
Thanks in advance.

 

[agent47]

def calculate_rc_command(self):
target_position = np.array([self.mother_position.x, self.mother_position.y]) + self.relative_position
direction = target_position - np.array([self.position.x, self.position.y])

# Calculate velocity components
vx = direction[0] * 0.1
vy = direction[1] * 0.1

# Construct rc command
rc_command = f"rc {vx} {vy} 0 0"
return rc_command


I am working on a couple of projects with drones too, but they are more physical. I am using a Tello, so try that out