TelloESP32: Arduino Library for Controlling DJI Tello Drones with ESP32

Overview

Control your DJI Tello drone with an ESP32 microcontroller using this easy-to-use Arduino library! Inspired by the djitellopy Python library, TelloESP32brings similar functionality to the Arduino ecosystem, enabling embedded Tello applications.

Key Features:

• Simplified C++ API: Control flight, video, and drone state with a clean C++ interface designed for Arduino.
• ESP32 Optimized: Leverages the ESP32's dual-core processor and WiFi capabilities for efficient communication and video processing.
• Flight Control: Take off, land, move, rotate, and flip with simple functions.
• Video Streaming: Receive and process live H.264 video data with a callback function. (Note: Resource intensive; consider lower resolutions/framerates).
• State Monitoring: Access real-time telemetry like battery level, altitude, speed, temperature, and IMU data. Direct state access (faster) and query commands are provided.
• Mission Pad Support (Tello EDU): Interface with Tello mission pads for programmed flight.
• Network Configuration (Tello EDU): Change the Tello's WiFi SSID and password.

Getting Started

Installation

1. Arduino Library Manager (Recommended): Search for "TelloESP32" in the Library Manager and install.
2. Manual: Download the latest release ZIP, rename the folder to TelloESP32, and place it in your Arduino libraries directory.

Examples

The examples folder contains practical demonstrations of key library features:

• Basic Flight: Simple takeoff, movement, and landing.
• Video Streaming: Receiving video data and (optionally) displaying it or processing it.

Usage

Basic Connection

Here's how to connect to your Tello drone:

#include <TelloESP32.h>

using namespace TelloControl;

TelloESP32 tello;

void setup() {
  Serial.begin(115200);

  // Connect to the Tello's WiFi network
  TelloStatus status = tello.connect("TELLO-XXXXXX", ""); // Replace with your Tello's SSID and password if needed

  if (status == TelloStatus::OK) {
    Serial.println("Connected to Tello!");

    // You can start sending commands now
    tello.takeoff();
  } else {
    Serial.print("Error connecting to Tello: ");
    Serial.println((int)status);
  }
}

void loop() {
  // Your main loop code (e.g., reading sensor data, sending RC commands)
}

Explanation:

1. Include: Include the TelloESP32.h header file.
2. Namespace: Use the TelloControl namespace to avoid naming conflicts.
3. Object: Create a TelloESP32 object (e.g., tello).
4. Serial Monitor: Initialize the serial monitor for debugging (optional but recommended).
5. Connect: Use the connect() method to connect to the Tello's WiFi network. Replace "TELLO-XXXXXX" with your drone's SSID (found on the battery compartment) and leave the password empty unless you've set one on your drone.
6. Status Check: Check the returned TelloStatus to ensure the connection was successful.

Sending Commands

Use the various command methods provided by the library to control the drone:

// ... (after successful connection)

tello.takeoff();
delay(5000);          // Wait 5 seconds
tello.move_forward(50); // Move forward 50 cm
delay(3000);
tello.rotate_clockwise(90); // Rotate 90 degrees clockwise
delay(3000);
tello.land();

Receiving State Data

You can access the drone's state information in two ways:

1. Query Commands:

int battery = tello.query_battery();
Serial.print("Battery: ");
Serial.print(battery);
Serial.println("%");

int height = tello.query_height();
Serial.print("Height: ");
Serial.print(height);
Serial.println(" cm");

2. Direct State Getters (Faster):

int battery = tello.get_battery();
Serial.print("Battery: ");
Serial.print(battery);
Serial.println("%");

int height = tello.get_height();
Serial.print("Height: ");
Serial.print(height);
Serial.println(" cm");

Video Streaming

#include <TelloESP32.h>

using namespace TelloControl;

TelloESP32 tello;

// Video data callback function
void videoDataCallback(const uint8_t *data, size_t length) {
  // Process the video data here (e.g., send it over serial, display it on a screen)
  Serial.printf("Received video data: %u bytes\n", length);

  // Example: Print the first 10 bytes of the video frame
  for (int i = 0; i < 10 && i < length; i++) {
    Serial.printf("%02X ", data[i]);
  }
  Serial.println();
}

void setup() {
  Serial.begin(115200);
  
  // Connect to Tello
  if (tello.connect("TELLO-XXXXXX", "") == TelloStatus::OK) {
    Serial.println("Connected to Tello!");

    // Set the video data callback function
    tello.setVideoDataCallback(videoDataCallback);

    // Start video streaming
    tello.streamon();
  } else {
    Serial.println("Failed to connect to Tello");
  }
}

void loop() {
  // Your main loop code can go here
}

API Reference

Connection and Initialization

• TelloESP32(): Constructor. Initializes the object.
• ~TelloESP32(): Destructor. Cleans up resources.
• TelloStatus connect(const char *ssid, const char *password, unsigned long timeout_ms = 10000): Connects to the Tello's WiFi network.
  • ssid: The Tello's SSID (e.g., "TELLO-XXXXXX").
  • password: The Tello's WiFi password (usually empty).
  • timeout_ms: Connection timeout in milliseconds.
  • Returns: TelloStatus indicating success or failure.
• void disconnect(): Disconnects from the Tello.
• bool isConnected() const: Returns true if connected, false otherwise.

Flight Control

• TelloStatus takeoff(): Initiates takeoff.
• TelloStatus land(): Initiates landing.
• bool isFlying() const: Returns true if the drone is in the air, false otherwise.

Movement Commands

• TelloStatus move_up(int cm): Move up by cm (20-500).
• TelloStatus move_down(int cm): Move down by cm (20-500).
• TelloStatus move_left(int cm): Move left by cm (20-500).
• TelloStatus move_right(int cm): Move right by cm (20-500).
• TelloStatus move_forward(int cm): Move forward by cm (20-500).
• TelloStatus move_back(int cm): Move back by cm (20-500).
• TelloStatus rotate_clockwise(int degrees): Rotate clockwise by degrees (1-360).
• TelloStatus rotate_counter_clockwise(int degrees): Rotate counter-clockwise by degrees (1-360).

Flip Commands

• TelloStatus flip_left(): Flip to the left.
• TelloStatus flip_right(): Flip to the right.
• TelloStatus flip_forward(): Flip forward.
• TelloStatus flip_back(): Flip backward.

Motor Control

• TelloStatus turn_motor_on(): Turns the motors on (for testing on the ground, not for flying).
• TelloStatus turn_motor_off(): Turns the motors off.

Advanced Movement

• TelloStatus go_xyz_speed(int x, int y, int z, int speed): Move to coordinates x, y, z at speed (x, y, z: -500 to 500, speed: 10-100).
• TelloStatus curve_xyz_speed(int x1, int y1, int z1, int x2, int y2, int z2, int speed): Fly a curve from (x1, y1, z1) to (x2, y2, z2) at speed (x1, y1, z1, x2, y2, z2: -500 to 500, speed: 10-60).
• TelloStatus set_speed(int speed): Set the drone's speed (10-100 cm/s).
• void send_rc_control(int left_right_velocity, int forward_backward_velocity, int up_down_velocity, int yaw_velocity): Send RC control commands (-100 to 100 for each parameter).

Query Commands

• int query_speed() const: Get the current speed setting.
• int query_battery() const: Get the current battery percentage.
• int query_time() const: Get the current flight time.
• int query_height() const: Get the current height (in dm).
• int query_temp() const: Get the current temperature (average).
• float query_attitude() const: Get the current attitude (pitch, roll, yaw).
• float query_baro() const: Get the barometer reading.
• float query_tof() const: Get the time-of-flight distance.
• String query_wifi() const: Get the WiFi SNR (signal-to-noise ratio).
• String query_sdk() const: Get the Tello SDK version.
• String query_sn() const: Get the Tello serial number.

Direct State Getters

• int get_height() const: Get the current height in cm.
• int get_battery() const: Get the current battery percentage.
• int get_flight_time() const: Get the current flight time in seconds.
• float get_temperature() const: Get the current temperature in Celsius.
• float get_barometer() const: Get the current barometer reading in meters.
• float get_tof() const: Get the current TOF (time-of-flight) distance in cm.
• int get_pitch() const: Get the current pitch in degrees.
• int get_roll() const: Get the current roll in degrees.
• int get_yaw() const: Get the current yaw in degrees.
• int get_speed_x() const: Get the current x-axis speed in cm/s.
• int get_speed_y() const: Get the current y-axis speed in cm/s.
• int get_speed_z() const: Get the current z-axis speed in cm/s.
• float get_acceleration_x() const: Get the current x-axis acceleration in cm/s².
• float get_acceleration_y() const: Get the current y-axis acceleration in cm/s².
• float get_acceleration_z() const: Get the current z-axis acceleration in cm/s².

Video Configuration

• TelloStatus set_video_bitrate(VideoBitrate bitrate): Set the video bitrate.
• TelloStatus set_video_resolution(VideoResolution resolution): Set the video resolution.
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