SwiftでTelloと通信するサンプル
バイナリコマンドでTelloを動かすアプリのSwift版を書いてみようかと思って着手。まずは通信開始と簡単なコマンド送信から。
細かいこと書くの面倒なので、ViewController.swiftまるごと貼っておきます。読んでください。
↓これのソースコードです。
//
// ViewController.swift
// TelloTest
//
import UIKit
import SwiftSocket
class ViewController: UIViewController {
static let KEY_SETTING_UNIT_TYPE:String = "KEY_SETTING_UNIT_TYPE"
static let KEY_UNIT_METER:Int = 0
static let KEY_UNIT_IMPERIAL:Int = 1
var _client:UDPClient? = nil
var _unitType:Int = KEY_UNIT_METER
var _isConnect = false
var _isSendingAltitude = false
var _isEnd:Bool = false
@IBOutlet var _labelAlart: UILabel!
@IBOutlet var _labelCurrentAlt: UILabel!
@IBOutlet var _labelUsage: UILabel!
@IBOutlet var _labelNewAlt: UILabel!
@IBOutlet var _sliderAlt: UISlider!
@IBOutlet var _segUnitType: UISegmentedControl!
@IBOutlet var _buttonSend: UIButton!
override func viewDidLoad() {
super.viewDidLoad()
//Load unit setting from user default
let ud = UserDefaults.standard
_unitType = ud.integer(forKey:ViewController.KEY_SETTING_UNIT_TYPE)
if(_unitType < ViewController.KEY_UNIT_METER || _unitType > ViewController.KEY_UNIT_IMPERIAL) {
_unitType = ViewController.KEY_UNIT_METER
ud.set(_unitType, forKey: ViewController.KEY_SETTING_UNIT_TYPE)
}
self._segUnitType.selectedSegmentIndex = _unitType
}
func enableControl() {
_labelCurrentAlt.isHidden = false
_labelAlart.isHidden = true
_labelUsage.isHidden = false
_buttonSend.isEnabled = true
_labelNewAlt.isEnabled = true
_sliderAlt.isEnabled = true
changeAltSlider(self._sliderAlt)
}
func disableControl() {
_labelCurrentAlt.isHidden = true
_labelAlart.isHidden = false
_labelUsage.isHidden = true
_buttonSend.isEnabled = false
_labelNewAlt.isEnabled = false
_sliderAlt.isEnabled = false
}
//connect to Tello
func connect() {
disableControl()
self._client = UDPClient(address: "192.168.10.1", port: 8889)
if let client = self._client {
self._isConnect = false
self._isSendingAltitude = false
startReceive()
let res:Result = client.send(data: TelloPacket.createConnectReqPacket())
if(res.isSuccess) {
}
}
}
//Close connection and dispose
func closeConnection() {
self._isEnd = false
disableControl()
self._isConnect = false
self._isSendingAltitude = false
//ちょっと待ってから破棄する
DispatchQueue.main.asyncAfter(deadline: .now() + 0.5) {
if let client = self._client {
client.close()
self._client = nil
}
}
}
//Start Receive thread
func startReceive() {
self._isEnd = true
DispatchQueue(label: "jp.keiziweb.TALS.queue").async {
while(self._isEnd) {
if let client = self._client {
let recvData = client.recv(512) //recvData(data, address, port)
//print(TelloPacket.packetToHexString(packet: recvData.0!))
//Receive success
if let data = recvData.0 {
let bytes:[UInt8] = [UInt8](data)
//ack
if(bytes[0] == 0x63) {
DispatchQueue.main.async {
self.enableControl()
self._isConnect = true
}
let resGetAlt:Result = client.send(data: TelloPacket.createGetAltitudePacket())
if(resGetAlt.isFailure) {
print("Error:Send GetAltitudePacket")
self.closeConnection()
}
}
//Binary packet
else if(bytes[0] == 0xcc) {
//Parse
if let packet = TelloPacket.parsePacket(data:Data(data)) {
//4182 == TELLO_CMD_ALT_LIMIT
if(packet._commandID == 4182) {
//print(packet._data![0],packet._data![1],packet._data![2])
//Update current altitude label
let currentAltitude:Int = TelloPacket.littleEndianToInt(packet._data![1], packet._data![2])
DispatchQueue.main.async {
self._sliderAlt.value = Float(currentAltitude)
self._labelNewAlt?.text = self.makeAltitudeString(currentAltitude)
self._labelCurrentAlt?.text = String(format: NSLocalizedString("CurrentAltFormat",comment:""), self.makeAltitudeString(currentAltitude) )
if(self._isSendingAltitude) {
UIUtility.showAlertWithOK(vc: self, title: NSLocalizedString("Succeeded",comment:""), message: NSLocalizedString("UpdateSucceeded",comment:""))
}
self._isSendingAltitude = false
}
}
}
}
}
}
}
DispatchQueue.main.async {
}
}
}
override func didReceiveMemoryWarning() {
super.didReceiveMemoryWarning()
// Dispose of any resources that can be recreated.
}
//Send altitude value to Tello
@IBAction func tapChangeAltLimit(_ sender: Any) {
if(!self._isConnect) {
closeConnection()
return
}
let altitude:Int = Int(self._sliderAlt.value)
if(altitude >= 20) {
UIUtility.showAlertWithYESAndNO(vc: self, title: NSLocalizedString("confirm",comment:""), message:
String(format: NSLocalizedString("not_recommend",comment:""), makeAltitudeString(20))
, handlerYES: {
(action: UIAlertAction!) in
self.sendSetAltLimitCommand(altitude: altitude)
}
, handlerNO:nil)
}
else {
sendSetAltLimitCommand(altitude: altitude)
}
}
//Send "Set altitude limit command" to Tello.
public func sendSetAltLimitCommand(altitude:Int) {
if let client = self._client {
let resSetAlt:Result = client.send(data: TelloPacket.createSetAltitudePacket(altitudeM: altitude))
if(resSetAlt.isSuccess) {
_isSendingAltitude = true
DispatchQueue.main.asyncAfter(deadline: .now() + 3.0) {
if(self._isSendingAltitude) {
self.closeConnection()
UIUtility.showAlertWithOK(vc: self, title: NSLocalizedString("error",comment:""), message: NSLocalizedString("FaultGetAlt",comment:""))
}
}
let resGetAlt:Result = client.send(data: TelloPacket.createGetAltitudePacket())
if(resGetAlt.isFailure) {
print("Error:Send GetAltitudePacket")
}
}
else {
print("Error:Send SetAltitudePacket")
}
}
}
//changeUnitType save type
@IBAction func changeUnitType(_ sender: UISegmentedControl) {
let ud = UserDefaults.standard
_unitType = sender.selectedSegmentIndex
ud.set(_unitType, forKey: ViewController.KEY_SETTING_UNIT_TYPE)
}
//changeAltSlider update label
@IBAction func changeAltSlider(_ sender: UISlider) {
let altitude:Int = Int(self._sliderAlt.value)
self._sliderAlt.value = Float(altitude)
self._labelNewAlt?.text = self.makeAltitudeString(Int(sender.value))
}
//make Altitude string with unit type
func makeAltitudeString(_ altitude:Int)->String {
if(_unitType == ViewController.KEY_UNIT_METER) {
return String(format: "%d m", altitude)
}
else {
return String(format: "%.1f ft", Float(altitude) * 3.2808)
}
}
//Takeoff
@IBAction func tapTakeoff(_ sender: Any) {
if let client = self._client {
let res:Result = client.send(data: TelloPacket.takeOffPacket)
if(!res.isSuccess) {
print("Error:Send TakeOff")
}
}
}
//Land
@IBAction func tapLand(_ sender: Any) {
if let client = self._client {
let res:Result = client.send(data: TelloPacket.landPacket)
if(!res.isSuccess) {
print("Error:Send Land")
}
}
}
}
UIUtilityはダイアログを出したりするオリジナルのクラスライブラリですが大したコードじゃないです。
//
// UIUtility.swift
// Quiz
//
// Created by matsumoto keiji on 2017/05/29.
// Copyright © 2017年 matsumoto keiji. All rights reserved.
//
import Foundation
import UIKit
struct UIUtility {
//OKボタンのアラートを出す
static func showAlertWithOK(vc:UIViewController,title:String,message:String,handler: ((UIAlertAction) -> Swift.Void)? = nil,completion: (() -> Swift.Void)? = nil) {
let alert:UIAlertController = UIAlertController(title:title, message:message, preferredStyle: UIAlertControllerStyle.alert)
alert.addAction(UIAlertAction(title: NSLocalizedString("ok", comment:""), style: UIAlertActionStyle.default, handler:handler))
vc.present(alert, animated: true, completion:completion)
}
//OKボタンとキャンセルのアラートを出す
static func showAlertWithOKAndCansel(vc:UIViewController,title:String,message:String,handlerOK: ((UIAlertAction) -> Swift.Void)? = nil,handlerCancel: ((UIAlertAction) -> Swift.Void)? = nil,completion: (() -> Swift.Void)? = nil) {
let alert:UIAlertController = UIAlertController(title:title, message:message, preferredStyle: UIAlertControllerStyle.alert)
alert.addAction(UIAlertAction(title: NSLocalizedString("cancel", comment:""), style: UIAlertActionStyle.default, handler:handlerCancel))
alert.addAction(UIAlertAction(title: NSLocalizedString("ok", comment:""), style: UIAlertActionStyle.default, handler:handlerOK))
vc.present(alert, animated: true, completion:completion)
}
//YESボタンとNOのアラートを出す
static func showAlertWithYESAndNO(vc:UIViewController,title:String,message:String,handlerYES: ((UIAlertAction) -> Swift.Void)? = nil,handlerNO: ((UIAlertAction) -> Swift.Void)? = nil,completion: (() -> Swift.Void)? = nil) {
let alert:UIAlertController = UIAlertController(title:title, message:message, preferredStyle: UIAlertControllerStyle.alert)
alert.addAction(UIAlertAction(title: NSLocalizedString("no", comment:""), style: UIAlertActionStyle.default, handler:handlerNO))
alert.addAction(UIAlertAction(title: NSLocalizedString("yes", comment:""), style: UIAlertActionStyle.default, handler:handlerYES))
vc.present(alert, animated: true, completion:completion)
}
//アクションシートを表示する
static func showAction(vc:UIViewController,title:String,message:String,actions:[UIAlertAction],isNeedCancel:Bool) {
let alertSheet = UIAlertController(title:title, message:message, preferredStyle: UIAlertControllerStyle.actionSheet)
for action in actions {
alertSheet.addAction(action)
}
if(isNeedCancel) {
let actionCancel = UIAlertAction(title: NSLocalizedString("cancel",comment:""), style: UIAlertActionStyle.cancel, handler: {
(action: UIAlertAction!) in
})
alertSheet.addAction(actionCancel)
}
vc.present(alertSheet, animated: true, completion: nil)
}
}
実は結構簡単でした
たったの4日前にサッパリわからなかった事がアッサリわかるこの感じ。なぜ4日前はあんなに苦労したんだろうか（答え：プロトコルとUDP通信を理解してなかったから）。
受信したバイナリデータを16進数で流す関数はこんな感じ。
static func packetToHexString(packet:[UInt8])->String {
var hexString:String = "";
for i in (0 ..< packet.count) {
hexString.append(String(format:"%02x ",packet[i]))
}
return hexString
}流れてくるパケットには姿勢とか高度とかバッテリー残量とかWi-Fi強度とか入ってるっぽいですが、中身については謎です。Telloの姿勢を変えるとガーッと0xffが出るので加速度とか高度とか入ってるはずです。今のところ真面目に調べてはいません。
ビデオストリームは別のポートで受信するらしく、H.264だそうなので、あとで頑張ります。アプリでやれてることなので読み込めるでしょう。
UDP通信はSwiftSocketを使っているので超簡単です。CocoaPodsでインストールしましょう。
pod 'SwiftSocket'Javaで書いた方はTelloPCを参考にしましたが、Swiftは型の違いとかオプショナルとか色々あるのでめんどい。
詳しい通信手順とかは下記エントリで書きました。お役立てください。
Telloのバイナリコマンドパケットをいじるクラス
パケットデータを作ったり解釈したりするクラスを作りました。
//
// TelloPacket.swift
//
/*Reference
https://github.com/Kragrathea/TelloPC
https://dl-cdn.ryzerobotics.com/downloads/tello/0228/Tello+SDK+Readme.pdf
https://drive.google.com/file/d/1t12MK-jG4df90gMjD8syPrAZ8VmdqCDA/view
https://gobot.io/blog/2018/04/20/hello-tello-hacking-drones-with-go/
Written article
Tello & C#
https://note.mu/keizi666/n/n68eb25c8aa59
Tello & Java
https://note.mu/keizi666/n/nddef168ffb76
Tello & Swift
https://note.mu/keizi666/n/nc0e3d3cd3a21
*/
import Foundation
class TelloPacket {
var _size:Int = 0
var _crc8:Int = 0
var _typeID:Int = 0
var _commandID:Int = 0
var _seqNo:Int = 0
var _data:[UInt8]? = nil
var _crc16:Int = 0
var _isCheckCRC:Bool = false
//Calc CRC ------------------------------------------------------------
static let poly:Int = 13970
static let fcstab:[UInt16] = [0, 4489, 8978, 12955, 17956, 22445, 25910, 29887, 35912, 40385, 44890, 48851, 51820, 56293, 59774, 63735, 4225, 264, 13203, 8730, 22181, 18220, 30135, 25662, 40137, 36160, 49115, 44626, 56045, 52068, 63999, 59510, 8450, 12427, 528, 5017, 26406, 30383, 17460, 21949, 44362, 48323, 36440, 40913, 60270, 64231, 51324, 55797, 12675, 8202, 4753, 792, 30631, 26158, 21685, 17724, 48587, 44098, 40665, 36688, 64495, 60006, 55549, 51572, 16900, 21389, 24854, 28831, 1056, 5545, 10034, 14011, 52812, 57285, 60766, 64727, 34920, 39393, 43898, 47859, 21125, 17164, 29079, 24606, 5281, 1320, 14259, 9786, 57037, 53060, 64991, 60502, 39145, 35168, 48123, 43634, 25350, 29327, 16404, 20893, 9506, 13483, 1584, 6073, 61262, 65223, 52316, 56789, 43370, 47331, 35448, 39921, 29575, 25102, 20629, 16668, 13731, 9258, 5809, 1848, 65487, 60998, 56541, 52564, 47595, 43106, 39673, 35696, 33800, 38273, 42778, 46739, 49708, 54181, 57662, 61623, 2112, 6601, 11090, 15067, 20068, 24557, 28022, 31999, 38025, 34048, 47003, 42514, 53933, 49956, 61887, 57398, 6337, 2376, 15315, 10842, 24293, 20332, 32247, 27774, 42250, 46211, 34328, 38801, 58158, 62119, 49212, 53685, 10562, 14539, 2640, 7129, 28518, 32495, 19572, 24061, 46475, 41986, 38553, 34576, 62383, 57894, 53437, 49460, 14787, 10314, 6865, 2904, 32743, 28270, 23797, 19836, 50700, 55173, 58654, 62615, 32808, 37281, 41786, 45747, 19012, 23501, 26966, 30943, 3168, 7657, 12146, 16123, 54925, 50948, 62879, 58390, 37033, 33056, 46011, 41522, 23237, 19276, 31191, 26718, 7393, 3432, 16371, 11898, 59150, 63111, 50204, 54677, 41258, 45219, 33336, 37809, 27462, 31439, 18516, 23005, 11618, 15595, 3696, 8185, 63375, 58886, 54429, 50452, 45483, 40994, 37561, 33584, 31687, 27214, 22741, 18780, 15843, 11370, 7921, 3960 ];
//uCRC
static let uCRCTable:[UInt8] = [ 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65, 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220, 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98, 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255, 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7, 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154, 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36, 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185, 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205, 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80, 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238, 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115, 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139, 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22, 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168, 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53 ]
static let takeOffPacket:[UInt8] = [0xcc, 0x58, 0x00, 0x7c, 0x68, 0x54, 0x00, 0xe4, 0x01, 0xc2, 0x16]
static let landPacket:[UInt8] = [0xcc, 0x60, 0x00, 0x27, 0x68, 0x55, 0x00, 0xe5, 0x01, 0x00, 0xba, 0xc7]
static func packetToHexString(packet:[UInt8])->String {
var hexString:String = "";
for i in (0 ..< packet.count) {
hexString.append(String(format:"%02x ",packet[i]))
}
return hexString
}
static func fsc16(_ bytes:[UInt8],_ len:Int,_ poly:Int)->UInt16 {
var i:Int = 0
var j:Int = poly
var poly:Int = len
var len:Int = j
while (true) {
j = len
if (poly == 0) {
break
}
j = Int(bytes[i])
len = Int(fcstab[((len ^ j) & 0xFF)] ^ UInt16(len) >> 8)
i += 1
poly = poly - 1
}
return UInt16(j)
}
static func calcCrcToInt(bytes:[UInt8],len:Int)->UInt16 {
if (len <= 2) {
return 0
}
return fsc16(bytes, len - 2, poly)
}
static func calcCrc(bytes:inout[UInt8],len:Int) {
let i:UInt16 = calcCrcToInt(bytes: bytes,len: len)
bytes[(len - 2)] = UInt8((i & 0xFF))
bytes[(len - 1)] = UInt8((i >> 8 & 0xFF))
}
static func uCRC(bytes:[UInt8],len:Int,poly:Int)->UInt8 {
var j:Int = 0
var i:Int = poly
var poly = j
var len = len
while (len != 0) {
j = Int(bytes[poly]) ^ i
i = j
if (j < 0) {
i = j + 256
}
i = Int(uCRCTable[i])
poly += 1
len = len - 1
}
return UInt8(i)
}
static func calcUCRC(bytes:inout[UInt8],len:Int) {
let i:Int = calcUCRCBToInt(bytes: bytes,len: len)
bytes[(len - 1)] = UInt8(i & 0xFF)
}
static func calcUCRCBToInt(bytes:[UInt8],len:Int)->Int {
if ((bytes.count == 0) || (len <= 2)) {
return 0
}
return Int(uCRC(bytes: bytes, len: len - 1, poly: 119)) & 0xff
}
//---------------------------------------------------------------------
//Build 11 Byte Packet type, commnad, none Data
static func build11Packet(type:UInt8,command:UInt16)->[UInt8] {
//template
var packet:[UInt8] = [0xcc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
// start size crc type command seq crc 11byte
let len:UInt8 = UInt8(packet.count)
packet[ 1] = UInt8(len << 3)
calcUCRC(bytes: &packet, len: 4)
packet[4] = type
packet[5] = UInt8(command & 0xff)
packet[6] = UInt8((command >> 8) & 0xff)
calcCrc(bytes: &packet, len: packet.count)
return packet
}
//Create Conn_req（Send req -> Return ack）
static func createConnectReqPacket()->Data {
let strConnReq = "conn_req:00"
var byteConnReq = strConnReq.data(using: .utf8)!
byteConnReq[byteConnReq.count - 2] = 0x96
byteConnReq[byteConnReq.count - 1] = 0x17
return byteConnReq
}
//Create ack packet(To use for verification)
static func createConnectAckPacket()->Data {
let strConnAck = "conn_ack:00"
var byteConnAck = strConnAck.data(using: .utf8)!
byteConnAck[byteConnAck.count - 2] = 0x96
byteConnAck[byteConnAck.count - 1] = 0x17
return byteConnAck
}
//Create Get Altitude Packet
static func createGetAltitudePacket()->Data {
return Data(bytes: build11Packet(type: 0x48,command: 0x1056))
}
//Create Set Altitude Packet
static func createSetAltitudePacket(altitudeM:Int)->Data {
//template
var packet:[UInt8] = [0xcc, 0x00, 0x00, 0x00, 0x68, 0x58, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
// start size crc type command seq data crc 13byte
let len:UInt8 = UInt8(packet.count)
packet[ 1] = UInt8(len << 3)
calcUCRC(bytes: &packet, len: 4)
packet[ 9] = UInt8(altitudeM & 0xff)
packet[10] = ((UInt8(altitudeM) >> 8) & 0xff)
calcCrc(bytes: &packet, len: packet.count)
return Data(packet)
/*
ex:
30m:cc 68 00 51 68 58 00 00 00 1e 00 a8 5c
01m:cc 68 00 51 68 58 00 00 00 01 00 f1 4a
16m:cc 68 00 51 68 58 00 00 00 10 00 b8 c6
21m:cc 68 00 51 68 58 00 00 00 15 00 00 b8
*/
}
//Parse packet and make TelloPacket.
static func parsePacket(data:Data)->TelloPacket? {
let bytes:[UInt8] = [UInt8](data)
let start:Int = Int(bytes[0] & 0xff)
if( bytes.count < 11) {
return nil
}
if(start != 0xcc) {
return nil
}
let retPacket:TelloPacket = TelloPacket()
retPacket._size = littleEndianToIntWithShift(bytes[1],bytes[2])
retPacket._crc8 = Int(bytes[3] & 0xff)
retPacket._typeID = Int(bytes[4] & 0xff)
retPacket._commandID = littleEndianToInt(bytes[5],bytes[6])
retPacket._seqNo = littleEndianToInt(bytes[7],bytes[8])
let dataSize:Int = retPacket._size - 11
if(dataSize > 0) {
retPacket._data = [UInt8](repeating: 0x0,count: dataSize)
for i in (0 ..< dataSize) {
retPacket._data?[i] = bytes[i + 9]
}
}
retPacket._crc16 = littleEndianToInt(bytes[(bytes.count - 2)],bytes[(bytes.count - 1)])
let crc8Check:Int = calcUCRCBToInt(bytes:bytes, len:4)
let crc16Check:Int = Int(calcCrcToInt(bytes:bytes, len:bytes.count))
if(crc8Check != retPacket._crc8 || crc16Check != retPacket._crc16) {
retPacket._isCheckCRC = false;
}
else {
retPacket._isCheckCRC = true;
}
return retPacket
}
//LittleEndian Functions. Int to LE,LE to Int
static func intToLittleEndianWithShift(_ value:Int,_ src:inout[UInt8]) {
src[0] = UInt8((value << 3) & 0xff)
src[1] = UInt8((value >> 8) & 0xff)
}
static func intToLittleEndian(_ value:Int,_ src:inout[UInt8]) {
src[0] = UInt8(value & 0xff)
src[1] = UInt8((value >> 8) & 0xff)
}
static func littleEndianToIntWithShift(_ b0:UInt8,_ b1:UInt8)->Int {
return (((Int(b1) & 0xff) << 8) + (Int(b0) >> 3))
}
static func littleEndianToInt(_ b0:UInt8,_ b1:UInt8)->Int {
return (((Int(b1)) & 0xff) << 8) + (Int(b0) & 0xff);
}
}
extension Data {
var hexString: String {
return reduce("") {$0 + String(format: "%02x ", $1)}
}
}
これでパケットを作ると色々出来ます。作ったパケットをTelloに送れば反応が返ってきます。まだ大した事出来ないですが、今後機能を増やしていこうかと思います。
で、参考URLは毎度のことですがコチラ。
高度制限解除とかは通過点で、最終的にはカメラ画像を使った自律飛行をさせたいので、しばらく暇な時にいじっていこうかと思います。
最新版はGithubに載せてます。
ビデオストリームをデコードしてFPVを実現した人もいます。
僕はまだ試してませんが、自作のFPVコントロールアプリを作るための情報は揃ってるってことですね。
今後も情報公開していきますので、みんなで楽しくアプリを作りましょう！
わぁい、サポート、あかりサポートだい好きー。