Examples

To run any of these examples, install the tello_control package and run the main.py function.

Yaw PID Controller

examples/yaw_pid contains an example of an experiment which controls the Tello’s yaw using a PID controller with user-specified gains. It will test the controller on 3 different reference waves, each with 3 settings. The reference waves are a sine, a sawtooth, and a square. The settings are 0.1 Hz with 100 degree amplitude, 0.5 Hz with 50 degree amplitude, and 1 Hz with 20 degree amplitude. Optionally, one can compare the results to an Open Loop Controller.

Usage:

usage: main.py [-h] [--run-open-loop] [-kp KP] [-kd KD] [-ki KI] name

Run an experiment for the PID medium article

positional arguments:
        name             Experiment name

optional arguments:
        -h, --help       show this help message and exit
        --run-open-loop  Whether to compare to an Open Loop Controller
        -kp KP           Proportional Gain
        -kd KD           Derivative Gain
        -ki KI           Integrator Gain