TelloPython

Allows to control your Tello Drone via Python.

In addition to the "official" and documented APIs, TelloPython also supports also a number of reverse engineered function, such as "Flip", which are not in mentioned in the documentation, and only accessible through the App. Have a look demo.py, a small script to control the drone with your keyboard, which is not possible with the documented APIs (using reverse engineered Joystick Controls).

This Readme also goes through the Basics of how the Tello App was reverse engineered and a basic breakdown on how the app works.

Introduction to reverse engineering

Basics

• The Tello App does not send Strings (e. g. "land" or "takeoff" to the Drone). Instead it sends Command Ids to the drone (shorts). To find the ids:
• The SocketPacketEntitiy class contains different fields that you need to figure out before sending any command. To log the values of the arguments, I used the Xposed Framework (though you can probably figure it out with Wireshark):
  • cmdId: int
  • data: byte[]
  • pactype: int
  • seqnum: short
  • version: int

How to find these Command Ids etc

• In the Tello App, the raw ids can be found in classes extending com.ryzerobotics.tello.gcs.core.cmd.e. (You can run the scripts in dev_utils.py to find Command Ids used in comparisons. These script need a decompiled Tello Folder (preferably from Jadx). A more complete list (still maybe not all ids) can be found in cmd_ids
• You should be able to figure out some Commands by having a look at the class com.ryzerobotics.tello.gcs.core.cmd.c ("ZOCmdStore")
• By setting the Tello Application to UserDebuggable you can use the "Android Layout Inspector" and figure out the ids of the buttons and search for their onClickListener (done to find flip command)
• With Xposed, you can hook every method of the classes extending e. Check what Id gets sent when using different features. (Takeoff, land etc.). A simpler way (less complete) would be hooking the before mentioned"ZOCmdStore" class.
• Similarly, you can hook the constructor of the class com.ryzerobotics.tello.gcs.core.c ("ZOCmdParser") and log the cmdId field of the result of method com.ryzerobotics.tello.gcs.ui.bean.SocketPacketEntity a(byte[], int). Note that the byte[] sometimes contains useful information in form of text.

Using different commands

The Joystick command

The joystick is handled by com.ryzerobotics.tello.gcs.core.cmd.d.a(int, int, long, long, long) Values are set using Commands in "ZOCmdSendManager". Chinese names for the values are mentioned in log statements with tag "yaogan" - "Joystick"). You can understand their meaning by Trial and Error or hooking the Tello App and seeing what values are passed to the method when using the Joystick in app.

| Chinese names | Directions | Name | | ------------- |:-----------------------------| :--------| | zuoYou | right - left | roll | | qianHou | forward - backward | pitch | | shangXia | up - down | throttle | | xuanZhan | clockwise - counterclockwise | yaw |

The last long argument does not have a specific name. This speed_mode variable is either 0 (slow mode) or 1 (quick mode). The values of the other arguments are ints between 364 - 1684 (both included).

• Min (movement on corresponding axis): 364
• ...
• Normal (no movement on corresponding axis): 1024
• ...
• Max (movement on corresponding axis): 1684

Speed per axis given by abs(1024 - x). Direction on axis given by x > 1024

The Flip command

The Flip command takes an int (0 <= int <= 7) to set the direction. 0, 1, 2, 3 are front-, left-, back-, right-flip respectively. Values 4, 5, 6, 7 are for diagonal flips.