tello-pid-altitude-control

A Python GUI application for implementing and tuning a PID controller to autonomously stabilize the altitude of a DJI Tello drone.

Functionality Overview

• PID Gain Tuning: Input fields for Proportional, Integral, and Derivative gains to adjust the controller's response in real-time.
• Setpoint Management: Set the desired altitude (Set Point) for the drone to maintain.
• Flight Control: Buttons for Takeoff, Landing, and initiating the PID controller.
• Data Management: Controls to select system variables for graphing, switch between real-time and incremental graph modes, and manage the SQLite data table.

Preview: Gui controls

Performance Graph

A real-time Matplotlib graph visualizing the PID controller's performance

Visualized Metrics

• Altitude (System Variable): The drone's actual height measured by the sensors.
• Set Point: The target altitude you want the drone to achieve and maintain.
• Error: The diference between the Set Pint and the actual Altitude, which is the key parameter the PID controller seeks to minimize.
• Output: The controller output that will be sent to the aircraft.

Preview: Graph

Key Features

• PID Control Loop: Automated height stabilization using a custom-tunable PID controller.
• Real-Time Telemetry Plotting: Live graph of altitude vs. time using Matplotlib to visualize PID performance.
• In-Flight PID Tuning: Adjust P, I, and D gains in real-time without stopping the controller.
• SQLite Database: All flight data (altitude, setpoint, PID values) is logged for further analysis.
• Modern UI: A clean and intuitive interface built with CustomTkinter.

Usage

1. Connect your computer to the Tello's Wi-Fi network.
2. Run the application:

   python main.py

3. Click Connect to start the communication
4. Set your desired Altitude setpoint.
5. Click Take Off to take off the aircraft.
6. Click Start PID to engage the altitude hold controller.
7. Use the input fields to adjust the Proportional, Integral, and Derivative gains and observe the changes on the live plot.
8. Click Land to safely finish the flight. All data is automatically saved to the database.

Data Analysis

Flight data is stored in a local SQLite database file. You can use tools like DB Browser for SQLite or Python scripts to analyze the performance of different PID configurations.

Windows Preview

Preview: Gui

Disclaimer

This project is for educational and experimental purposes. Always fly in a safe, wide-open area away from people, obstacles, and other hazards. The developer is not responsible for any damage or injury caused by the use of this software.