Tello SDK 2.0 User Guide
Tello%20SDK%202.0%20User%20Guide
Tello%20SDK%202.0%20User%20Guide
Tello%20SDK%202.0%20User%20Guide
Tello_SDK_2_User_Guide
Tello%20SDK%202.0%20User%20Guide
User Manual:
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SDK 2.0 User Guide V1.0 2018.11 Introduction The Tello SDK connects to the aircraft through a Wi-Fi UDP port, allowing users to control the aircraft with text commands. After downloading and installing Python, download the Tello3.py file via the link: https://dl-cdn.ryzerobotics.com/downloads/tello/20180222/Tello3.py. * Tello3.py is a sample program based on python that establish a UPD communication port, which can implement simple interaction with Tello, including sending SDK instructions to Tello and receiving Tello information. Tello3.py is for reference only and user can develop more. Architecture Use Wi-Fi to establish a connection between the Tello and PC, Mac, or mobile device. Send Command & Receive Response Tello IP: 192.168.10.1 UDP PORT: 8889 <<- ->> PC/Mac/Mobile Step 1: Set up a UDP client on the PC, Mac, or mobile device to send and receive messages from the Tello via the same port. Step 2: Before sending any other commands, send “command” to the Tello via UDP PORT 8889 to initiate SDK mode. Receive Tello State Tello IP: 192.168.10.1 ->> PC/Mac/Mobile UDP Server: 0.0.0.0 UDP PORT: 8890 Step 3: Set up a UDP server on the PC, Mac, or mobile device and check the message from IP 0.0.0.0 via UDP PORT 8890. Steps 1 and 2 must be completed before attempting step 3. For more details, refer to the Tello State section. * Refer to the Tello State section for details. Receive Tello Video Stream Tello IP: 192.168.10.1 ->> PC/Mac/Mobile UDP Server: 0.0.0.0 UDP PORT: 11111 Step 4: Set up a UDP server on the PC, Mac, or mobile device and check the message from IP 0.0.0.0 via UDP PORT 11111. Step 5: Send “streamon” to the Tello via UDP PORT 8889 to start streaming. Steps 1 and 2 must be completed before attempting step 5. Tello Command Types and Results The Tello SDK includes three basic command types. Control Commands (xxx) Returns “ok” if the command was successful. Returns “error” or an informational result code if the command failed. Set Command (xxx a) to set new sub-parameter values Returns “ok” if the command was successful. Returns “error” or an informational result code if the command failed. 2 © 2018 Ryze Tech. All Rights Reserved. Read Commands (xxx?) Returns the current value of the sub-parameters. Tello Commands Control Commands Command Description Command Enter SDK mode. takeoff Auto takeoff. land Auto landing. Possible Response streamon Enable video stream. streamoff Disable video stream. emergency Stop motors immediately. up x Ascend to “x” cm. x = 20-500 down x down “x” Descend to “x” cm. x = 20-500 left x Fly left for “x” cm. “x” = 20-500 right x Fly right for “x” cm. “x” = 20-500 forward x Fly forward for “x” cm. “x” = 20-500 back x Fly backward for “x” cm. “x” = 20-500 cw x Rotate “x” degrees clockwise. “x” = 1-360 ccw x Rotate “x” degrees counterclockwise. “x” = 1-360 flip x Flip in “x” direction. “l” = left “r” = right “f” = forward “b” = back ok / error Fly to “x” “y” “z” at “speed” (cm/s). go x y z speed “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 simultaneously. © 2018 Ryze Tech. All Rights Reserved. 3 Hovers in the air. Note: works at any time. stop 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. curve x1 y1 z1 x2 y2 z2 speed “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 simultaneously. 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) go x y z speed mid Note: “x”, “y”, and “z” values can’t be set between -20 – 20 simultaneously. 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. curve x1 y1 z1 x2 y2 z2 speed mid “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 simultaneously. Fly to coordinates “x”, “y”, and “z” of Mission Pad 1, and recognize coordinates 0, 0, “z” 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) jump x y z speed yaw mid1 mid2 Note: “x”, “y”, and “z” values can’t be set between -20 – 20 simultaneously. 4 © 2018 Ryze Tech. All Rights Reserved. ok / error Set Commands Command Command speed x Set speed to “x” cm/s. x = 10-100 Possible Response Set remote controller control via four channels. rc a b c d “a” = left/right (-100-100) “b” = forward/backward (-100-100) “c” = up/down (-100-100) “d” = yaw (-100-100) Set Wi-Fi password. wifi ssid pass ssid = updated Wi-Fi name pass = updated Wi-Fi password mon Enable mission pad detection (both forward and downward detection). moff Disable mission pad detection. “x” = 0/1/2 0 = Enable downward detection only 1 = Enable forward detection only 2 = Enable both forward and downward detection mdirection x ap ssid pass ok / error 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. 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 Read Commands Command Command Possible Response 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” © 2018 Ryze Tech. All Rights Reserved. 5 sdk? Obtain the Tello SDK version. “sdk version” sn? Obtain the Tello serial number. “serial number” Tello State Data type: String 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.l 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;vgx:%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 received 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 degree of the attitude roll. yaw = the degree of the attitude yaw. vgx = the speed of “x” axis. vgy = the speed of the “y” axis. vgz = the speed of the “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. 6 © 2018 Ryze Tech. All Rights Reserved. mid commands mid commands are only used with a Mission Pad. mid commands include: mon moff mdirection “x” go “x” “y” “z” “speed” “mid” curve “x1” “y1” “z1” “x2” “y2” “z2” “speed” “mid” jump “x” “y” “z” “speed” “yaw” mid1 mid2 For more details, read the Mission Pad User Guide on the official RYZE website. Safety Feature If there is no command for 15 seconds, the Tello will land automatically. Reset Tello Wi-Fi Make sure the Tello is turned on and press and hold the power button for five seconds. The indicators will turn off and blink yellow slowly. When the Wi-Fi SSID and password is reset to the default settings, the indicator blinks yellow quickly. Note that in default there is no password set. © 2018 Ryze Tech. All Rights Reserved. 7 Ryze Tech Support http://www.ryzerobotics.com/support This content is subject to change. Download the latest version from http://www.ryzerobotics.com Copyright © 2018 Ryze Tech. All Rights Reserved.
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