How to Control

See example.py to fly the x400 with your keyboard

# Create an X400 Instance
x400 = SymaX400()

# Connect to the drone and start listening for control inputs
x400.connect()

# Optional: Start the video stream
# x400.video_stream()

# Turn the motors on
x400.toggle_motor_power()

# Bring the drone up
x400.auto_take_off()

# Adjust the trim
x400.pitch_trim_forward()
x400.pitch_trim_backward()
x400.roll_trim_left()
x400.roll_trim_right()


# Pitch forward/backwards using the float range [-1.0, 1.0]
x400.set_pitch(.75)
time.sleep(1)
x400.set_pitch(0)


# Roll left/right using the float range [-1.0, 1.0]
x400.set_roll(.75)
time.sleep(1)
x400.set_roll(0)

# Throttle up/down using the float range [-1.0, 1.0]
x400.set_throttle(1)
time.sleep(.75)
x400.set_throttle(0)

# Yaw left/right using the float range [-1.0, 1.0]
x400.set_yaw(.75)
time.sleep(1)
x400.set_yaw(0)


# land the drone
x400.auto_land()

# Disconnect, stop the video and command streams
x400.connect(False)        

The Drone Command

byte	default	description
0	0xA5	hard-coded header value
1	0xA5	hard-coded header value
2	0x0C	number of remaining bytes (12) (hard-coded)
3	0x80	Throttle
4	0x80	Pitch
5	0x80	Yaw
6	0x80	Roll
7	0x20	???
8	0x20	Pitch Trim
9	0x20	???
10	0x20	Roll Trim
11	0x00	Drone Actions (e.g. auto takeoff/land)
12	0x55	flight commands checksum (((((cmd[7], ^ ((cmd[5], ^ (cmd[4], ^ cmd[3],)) ^ cmd[6],)) ^ cmd[8],) ^ cmd[9],) ^ cmd[10],) ^ cmd[11],) + 85
13	0xe0	checksum lower byte
14	0x03	checksum upper byte

The default heart-beat command. Keeps the connection with drone open but does not apply any directional power to the axis

[0xA5, 0x5A, 0x0C, 0x80, 0x80, 0x80, 0x20, 0x20, 0x20, 0x20, 0x00, 0x55, 0xE0, 0x03]

Start the motors - rotates the blades at a low RPM, not enough for list

[0xA5, 0x5A, 0x0C, 0x80, 0x80, 0x80, 0x20, 0x20, 0x20, 0x20, 0x10, 0x65, 0x00, 0x04]

Auto-Land - Brings the drone back to the ground and cuts the motors off

[0xA5, 0x5A, 0x0C, 0x80, 0x80, 0x80, 0x20, 0x20, 0x20, 0x20, 0x08, 0x5D, 0xF0, 0x03]

Auto-Lift - Brings the drone up a few feet and hovers

[0xA5, 0x5A, 0x0C, 0x80, 0x80, 0x80, 0x20, 0x20, 0x20, 0x20, 0x60, 0x09, 0x56, 0x00]

Calibrate - I don't actually know what this does

[0xA5, 0x5A, 0x0C, 0x80, 0x80, 0x80, 0x20, 0x20, 0x20, 0x20, 0x20, 0x75, 0x20, 0x04]

Axis Values

0x80 is the neutral value for each axis

Axis	Direction	[Low, High]
Throttle	N/A	[0x00, 0xFF]
Pitch	Forward	[0x00, 0x7F]
Pitch	Backward	[0x81, 0xFF]
Roll	Left	[0x00, 0x7F]
Roll	Right	[0x81, 0xFF]
Yaw	Left	[0x00, 0x7F]
Yaw	Right	[0x81, 0xFF]

Trim Values

0x20 is the neutral value for each trim

Trim	Direction	[Low, High]
Pitch	Forward	[0x00, 0x0F]
Pitch	Backward	[0x21, 0x2F]
Roll	Left	[0x00, 0x0F]
Roll	Right	[0x21, 0x2F]

Misc

Waiting on the UX to scan / display the drone wifi is annoying, connect quicker in the terminal. replace FPV_WIFI__8B06 with your drone's wifi name

Mac

networksetup -setairportnetwork en0 "FPV_WIFI__8B06"

Linux

nmcli device wifi connect FPV_WIFI__8B06