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Example Computer Clients

This folder contains several client scripts that can communicate with and/or control R1 from a computer.

ComLink Demo

The first example is com_link_demo.py. While you are flying with a phone as the primary device, your computer can fetch info from the vehicle and send basic commands with this script.

Be sure to follow the steps from the repo README to create a Skillset for yourself that includes ComLink.

Using a simulator

  1. Follow the instructions in the repo README for creating and uploading the example skillset

  2. Use your phone to takeoff and switch into the ComLink skill. You may need to Refresh first in order to get the skill to appear.

  3. Once you've requested and selected a simulator in the Developer Console click the key icon and grab the Simulator URI and download the Simulator Auth Token file to your computer

  4. On your computer cd into the client directory

  5. Run the com_link_demo.py script using python (2):

    • --baseurl equal to Simulator URI from the Developer Console
    • --token-file pointing to the downloaded Simulator Auth Token file
    • --skill-key equal to the key of the ComLink skill which is [your_skillset_name].com_link.ComLink
    python com_link_demo.py --baseurl https://simX-X.sim.skydio.com \
    --token-file ~/Downloads/simX_token.txt \
    --skill-key my_skillset.com_link.ComLink \
    --forward 3 --loop

    The first time you run this script it will prompt you for a login code sent to your email to auth with the Skydio Cloud API servers so it can download your skillset.

Using a real R1

  1. Connect to the vehicle from your phone, takeoff and switch into ComLink skill.

  2. Connect your computer to your R1 over WiFi

  3. Run the com_link_demo.py script using python (2):

    • --skill-key equal to the key of the ComLink skill which is [your_skillset_name].com_link.ComLink
    python com_link_demo.py \
    --skill-key my_skillset.com_link.ComLink \
    --forward 3 --loop

Remote Control Demo

This second example replaces your phone and controls R1 entirely from a computer over WiFi with a USB gamepad.

Be sure to follow the steps from the repo README to create a Skillset for yourself that includes Gamepad.

Use the computer client with a real R1 and a video stream

  1. Install dependencies for your operating system. pip install inputs opencv-python protobuf requests

  2. Connect your computer to the R1's WiFi. Confirm by visiting http://192.168.10.1/ from a web browser.

  3. Run the client script to launch R1 and request an h264 stream

    • --skill-key equal to the key of the ComLink skill which is [your_skillset_name].com_link.ComLink
    python rc_demo.py \
    --skill-key my_skillset.remote.RemoteControl \
    --stream jpeg

  4. If you are ready to takeoff, pass the --takeoff argument.

    python rc_demo.py \
    --skill-key my_skillset.remote.RemoteControl \
    --stream jpeg \
    --takeoff

  5. When you want to land, re-run with the --land argument

    python rc_demo.py \
    --skill-key my_skillset.remote.RemoteControl \
    --land

  6. By default the script uses your keyboard as input, but if you have a USB gamepad, pass the --gamepad argument.

    python rc_demo.py \
    --skill-key my_skillset.remote.RemoteControl \
    --stream jpeg \
    --takeoff \
    --gamepad

  7. If you adjust the RemoteControl skill and re-upload to the Developer Console you will have to sync that code to the vehicle again.

    • Option A: connect with your phone and press Synchronize Skills
    • Option B: pass the --update-skillsets-email argument to the rc_demo.py script, while your computer is connected to the Internet and R1 at the same time.

  8. Note that the RTP stream does not work from the simulator due to firewalls.

Raspberry Pi Demo

The USB-C port on top of R1 is able to power and communicate with a properly configured Raspberry Pi Zero. This setup enables you to execute arbitrary scripts on the pi, and proxy data from R1 over your own custom wifi network.

Proxying a video stream to a different computer on your own wifi network using a Pi

  1. Install gstreamer dependencies on your Pi and any computer you want to use to view the stream.

    on Mac:

    brew install gstreamer \
        gst-plugins-base \
        gst-plugins-good \
        gst-plugins-bad

    on Linux:

    apt-get install gstreamer1.0-libav \
        gstreamer1.0-plugins-base \
        gstreamer1.0-plugins-good \
        gstreamer1.0-plugins-bad

  2. Set up your Pi to act as a usb ethernet gadget. Complete the instructions here. This should allow the pi to get power over USB-C.

  3. Copy this folder to your Pi and execute the payload mode script to allow takeoff with the USB-C port in use.

    python enable_payload_mode.py

  4. Start the stream proxy, so that RTP packets will get forwarded to your destination.

    python gstreamer_proxy.py --remote-host <destination-computer-ip> --remote-port 55005

  5. In a separate terminal (or tmux) run the pi demo. By default, this starts streaming but does not launch the R1.

    python pi_proxy_demo.py

  6. On your destination computer, use gstreamer to view the stream.

    python gstreamer_viewer.py --format jpeg --port 55005