The intent of this library is its simplicity to use. The following code section shows a basic setup for one Tello-drone.
#include <tello/logger/logger_interface.hpp>
#include <tello/connection/tello_network.hpp>
#include <tello/tello.hpp>
using tello::LoggerSettings;
using tello::LoggerInterface;
using tello::TelloNetwork;
using tello::Tello;
using tello::Response;
#define TELLO_IP_ADDRESS (ip_address)0xC0A80A01 // 192.168.10.1
int main() {
// Initialize logging
LoggerSettings settings {"./log/command_log.log", "./log/video_log.log", "./log/status_log.log"};
LoggerInterface::initialize(settings);
// Setup connection
const bool isConnected = TelloNetwork::connect();
assert(isConnected);
// Create a tello drone object for interaction
Tello tello(TELLO_IP_ADDRESS);
// Enter command mode.
future<Response> command_future = tello.command();
// You don't have to wait for a response.
// A response is timed-out after 15 seconds.
command_future.wait();
// There are some commands, which don't wait to a response
// The status of the response will be 'UNKNOWN'
future<Response> rc_future = tello.rc_control(10, -10, 0, 0);
// More commands
// ...
// At least, the connections have to be closed.
TelloNetwork::disconnect();
}Another possibility is the setup of a swarm.
// includes ...
#include <tello/swarm.hpp>
// usings ...
using tello::Swarm;
int main() {
// setup ...
// Create tello drones object for interaction
Tello tello_1(TELLO_IP_ADDRESS_1);
Tello tello_2(TELLO_IP_ADDRESS_2);
// ...
Tello tello_n(TELLO_IP_ADDRESS_n);
// Create a swarm object and add tellos
Swarm swarm;
swarm << tello_1 << tello_2 << ... << tello_n;
// Enter command mode
unordered_map<ip_address, future<Response>> response_futures = swarm.command();
for(auto& entry : response_futures) {
entry.second.wait();
}
// May repeate command for a single tello if one failed.
// More commands and tear down
// ...
}Per default, a static library is built. One can set the option
'TELLO_BUILD_SHARED_LIBS' to ON to build a shared library.
Note: The target 'tello_test' cannot be built with this option on,
because there are some usages, which are not exported (e.g. command_test.cpp).
Use the target 'shared_linking_test' instead.
C++ 17
OS
- Windows
Compiler
- nmake
- mingw/g++ 8.1.0 - Windows MSYS2
- Logging: spdlog (https://github.com/gabime/spdlog)
- Thread-pooling: ctpl (https://github.com/vit-vit/CTPL)
- Testing: googletest (https://github.com/google/googletest)
Tello IP: 192.168.10.1 UDP Port (Both): 8889
Listen to: 0.0.0.0
Tello IP: 192.168.10.1
Listen to: 0.0.0.0 UDP Port: 8890
Tello IP: 192.168.10.1
Listen to: 0.0.0.0 UDP Port: 11111
| Command | Description | Possible Response | Implemented |
|---|---|---|---|
| command | Enter SDK mode. | ok / error | ✔️ |
| takeoff | Auto takeoff. | ok / error | ✔️ |
| land | Auto landing. | ok / error | ✔️ |
| streamon | Enable video stream. | ok / error | ✔️ |
| streamoff | Disable video stream. | ok / error | ✔️ |
| emergency | Stop motors immediately. | ok / error | ✔️ |
| up "x" | Ascend to "x" cm. x = 20-500 |
ok / error | ✔️ |
| down "x" | down "x" Descend to "x" cm. x = 20-500 |
ok / error | ✔️ |
| left "x" | Fly left for "x" cm. x = 20-500 |
ok / error | ✔️ |
| right "x" | Fly right for "x" cm. x = 20-500 |
ok / error | ✔️ |
| forward "x" | Fly forward for "x" cm. x = 20-500 |
ok / error | ✔️ |
| back "x" | Fly backward for "x" cm. x = 20-500 |
ok / error | ✔️ |
| cw "x" | Rotate "x" degrees clockwise. x = 1-360 |
ok / error | ✔️ |
| ccw "x" | Rotate "x" degrees counterclockwise. x = 1-360 |
ok / error | ✔️ |
| flip "x" | Flip in "x" direction. x = "l" or "r" or "f" or "b" l = left r = right f = forward b = back |
ok / error | ✔️ |
| go "x" "y" "z" "speed" | Fly to "x" "y" "z" at "speed" (cm/s). x = -500-500 y = -500-500 z = -500-500 speed = 10-100 Note: "x", "y" and "z" values can't be set between -20-20 siultaneously. |
ok / error | ❌ |
| stop | Hovers in the air. Note: works at any time. |
ok / error | ✔️ |
| curve "x1" "y1" "z1" "x2" "y2" "z2" "speed" |
Fly at a curve according to the two given coordinates at "speed" (cm/s). If the arc radius is not within a range of 0.5-10 meters, it will respond with an error. x1, x2 = -500-500 y1, y2 = -500-500 z1, z2 = -500-500 speed = 10-60 Note: "x", "y" and "z" values can't be set between -20-20 siultaneously. |
ok / error | ❌ |
| go "x" "y" "z" "speed" "mid" | Fly to the "x", "y" and "z" coordinates of the Mission Pad. mid = m1-m8 x = -500-500 y = -500-500 z = -500-500 speed = 10-100 (cm/s) Note: "x", "y" and "z" values can't be set between -20-20 siultaneously. |
ok / error | ❌ |
| curve "x1" "y1" "z1" "x2" "y2" "z2" "speed" "mid" |
Fly at a curve according to the two given coordinates of the Mission Pad ID at "speed" (cm/s). If the arc radius is not within a range of 0.5-10 meters, it will respond with an error. x1, x2 = -500-500 y1, y2 = -500-500 z1, z2 = -500-500 speed = 10-60 Note: "x", "y" and "z" values can't be set between -20-20 siultaneously. |
ok / error | ❌ |
| jump "x" "y" "z" "speed" "yaw" "mid1" "mid2" |
Fly to coordinates "x", "y" and "z" of Mission Pad 1, and recognize coordinates 0, 0, "7" of Mission Pad 2 and rotate to the yaw value. mid = m1-m8 x = -500-500 y = -500-500 z = -500-500 speed = 10-100 (cm/s) Note: "x", "y" and "z" values can't be set between -20-20 siultaneously. |
ok / error | ❌ |
| Command | Description | Possible Response | Implemented |
|---|---|---|---|
| speed "x" | Set speed to "x" cm/s. x = 10-100 |
ok / error | ✔️ |
| rc "a" "b" "c" "d" | Set remote controller via four channels. a = left/right (-100-100) b = forward/backward (-100-100) c = up/down (-100-100) d = yaw (-100-100) |
ok / error | ❌ |
| wifi "ssid" "pass" | Set Wi-Fi password. ssid = updated Wi-Fi name pass = updated Wi-Fi password |
ok / error | ❌ |
| mon | Enable mission pad detection (both forward and downward detection). |
ok / error | ❌ |
| moff | Disable mission pad detection. | ok / error | ❌ |
| mdirection "x" | x = 0 or 1 or 2 0 = Enable downward detection only 1 = Enable forward detection only 2 = Enable both forward and downward detection Notes: Perform "mon" command before performing this command. The detection frequency is 20 Hz if only the forward or downward detection is enabled. If both the forward and downward detection are enabled, the detection frequency is 10 Hz. |
ok / error | ❌ |
| ap "ssid" "pass" | Set the Tello to station mode, and connect to a new access point with the access point's ssid and password. ssid = updated Wi-Fi name pass = updated Wi-Fi password |
ok / error | ❌ |
| Command | Description | Possible Response | Implemented |
|---|---|---|---|
| speed? | Obtain current speed (cm/s) | x = 10-100 | ✔️ |
| battery? | Obtain current battery percentage. | x = 0-100 | ❌ |
| time? | Obtain current flight time. | time | ❌ |
| wifi? | Obtain Wi-Fi SNR. | snr | ✔️ |
| sdk? | Obtain the Tello SDK version. | sdk version | ❌ |
| sn? | Obtain the Tello serial number. | serial number | ❌ |
Data string received when the mission pad detection feature is enabled:
"ata string received when the mission pad detection feature is enabled:requency is 10 Hz.I
theof:%d;h:%d;bat:%d;baro:%f;\r\nm"
Data string received when the mission pad detection feature is disabled:
"pitch:%d;roll%d;yaw:%d;vgw:%d;vgy:%d;vgz:%d;templ:%d;temph:%d;tof:%d;h:%d;bat:%d;baro:%.2f;
time:%d;agx:%.2f;agy:%.2f;agz:%.2f;\r\n"
Description
mid = the ID of the Mission Pad detected. If no Mission Pad is detected,
a "-1" message will be reeived instead.
x = the "x" coordinate detected on the Mission Pad. If there is no Mission Pad,
a "0" message will be received instead.
y = the "y" coordinate detected on the Mission Pad. If there is no Mission Pad,
a "0" message will be received instead.
z = the "z" coordinate detected on the Mission Pad. If there is no Mission Pad,
a "0" message will be received instead.
pitch = the degree of the attitude pitch.
roll = the degreee of the attitude roll.
yaw = the degree of the attitude yaw.
vgx = the speed of "x" axis.
vgy = the speed of "y" axis.
vgz = the speed of "z" axis.
templ = the lowest temperature in degree Celsius.
temph = the highest temperature in degree Celsius.
tof = the time of flight distance in cm.
h = the height in cm.
bat = the percentage of the current battery level.
baro = the barometer measurement in cm.
time = the amount of time the motor has been used.
agx = the acceleration of the "x" axis.
agy = the acceleration of the "y" axis.
agz = the acceleration of the "z" axis.