> For the complete documentation index, see [llms.txt](https://alfredo-reyes-montero.gitbook.io/tello-dji/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://alfredo-reyes-montero.gitbook.io/tello-dji/applications/telemetry/boschxdk110-remotecontroller/xdk110.md).

# XDK110

For the XDK we are going to open XDK Workbench, and we select use Mita Language.

You can copy from Tello/python/FlyControl/XDKTello/XDK/application.mita

```
/**
 * Welcome to XDK LIVE.
 *
 * Not sure what to do now?
 * Check out the "Getting started" guide in the Eclipse help.
 */

package main;
import platforms.xdk110;

var ban: int32;
var banlux: int32;

// Create a wireless connection named 'wireless'
setup wireless : WLAN {
    ssid = "";
    ipConfiguration = Dhcp();
    authentification = Personal(psk = "");
}

// Create a MQTT instance
setup messaging : MQTT {
    transport = wireless;
    url = "mqtt://broker.hivemq.com:1883"; // Try differents brokers iot.eclipse.org, etc. 
    cleanSession = true;
    clientId = "xdk110";  //Define your userID
    var action = topic("xdk110/tello/action",1);    //Define your own topic
}

//Flags that would help to block some actions.
every XDK110.startup {
    ban = 0;//1 Derecha, 2 Izquierda, 3 Adelante, 4 Atras, 5 Izquierda y 6 Derecha
    banlux = 0;
}

// When button one is pressed, send text via MQTT
every button_one.pressed {
    messaging.action.write("takeoff"); //Drone Takeoff
}

every button_two.pressed {
    messaging.action.write("land"); //Drone land
}

// Make a setup of sensors to get good data
setup Gyroscope_BMG160 {
  range = Range_250s;
  bandwidth = Bw_12Hz;
}
setup Gyroscope_BMI160 {
  range = Range_250s;
  bandwidth = BW_10_7Hz;
}

setup accelerometer{

}

//When XDK detect a single tap, drone fly up
every accelerometer.single_tap{
    messaging.action.write("up");
}

//When XDK detect a double tap, drone fly down
every accelerometer.double_tap{
    messaging.action.write("down");
}

//This function would run every 100 milliseconds.
//We read the input of gyroscope in the three dimensions, and whatever we detect we send an action to drone.
every 100 milliseconds {
      var x = gyroscope.x_axis.read();
      var y = gyroscope.y_axis.read();
      var z = gyroscope.z_axis.read();

      if(x>200 && ban!=1){ //X
        //println('right');
         messaging.action.write("right");
         ban=1;
     }else if(x<-200 && ban!=2){
         //println('left');
         messaging.action.write("left");
         ban=2;    
     }else if(y>200 && ban!=3){//Y
         //println('forward');
         messaging.action.write("forward");
         ban=3;
     }else if(y<-200 && ban!=4){
         //println('back');
         messaging.action.write("back");
         ban=4;    
     }else if(z>200 && ban!=5){//Z
         //println('cw');
         messaging.action.write("cw");
         ban=5;
     }else if(z<-200 && ban!=6){
         //println('ccww');
         messaging.action.write("ccww");
         ban=6;
     }

     if(light.intensity.read() < 100 && banlux!=1){
         messaging.action.write("flip");
         banlux=1;

     }

  }
  //We use this function to free the variable banlux, so we could request another time.
  every 40 seconds{
      banlux=0;

  }
```

We need to flash this program to XDK and we wait so XDK could Connect to wifi and start publishing.

## Error Fix WorkBench 3.4.0

We could present errors using some events from Accelerometer in workbench version 3.4.0

Accelerometer Fix - src-gen/SensorAccelerometer.c

```
  in static void BMA280_IsrCallback, replace CmdProcessor_Enqueue with CmdProcessor_EnqueueFromIsr
  in SensorAccelerometer_Enable, replace INTR_DISABLE with INTR_ENABLE
```