Take off with Tello

English translation

clc;
clear variables;
 
mode = 0;   % 0: simulation mode / 1: real mode

Take off with Tello

if (mode>0)
    my_tello = ryze();
    takeoff(my_tello);
    pause(3);   % wait for stability
else 
    my_tello = 0;
end

Acquire images

if (mode>0)
    my_camera = camera(my_tello);
    img = snapshot(my_camera);
 %imwrite(img, 'snapshot.png');
else
    img = imread('snapshot.png');
end

Track a red ball - Control it toward the image center

[height, width, channels] = size(img);

center = [width/2, height/2];

offset = [round(width/10), round(height/10)];

flag = true;

while(flag)

[ball_pos, ball_radius] = FindRedBall(img);

displace = (ball_pos - center);

[img, flag] = MoveAndSnap(mode, my_tello, img, displace, offset);

drawrectangle('Position',[center-offset,offset*2],'Color',[0 1 0]);

a = input('press enter');

end

drone move to 0.0, 0.1, 0.1
drone move to 0.0, 0.1, 0.0
drone move to 0.0, 0.1, 0.0
done

Camera image with a detected red ball, showing a circular boundary around the ball overlaid with a green rectangle marking the target region around the image center.

Land Tello

if (mode>0)
    land(my_tello);
end
clear variables;