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Tello Driver

The tello_driver package is the only one that interacts directly with the drone. It is built on top of the Python library tellopy, which implements the low-level protocol for controlling the Tello drone. This protocol was reverse-engineered by the tellopilots community.

With this package, you can send commands to the drone, such as takeoff, landing, and more. For a full list of available commands, refer to the topics section.

Dependencies

  • tellopy: This library must be installed from source to ensure you are using the latest version.
  • tello_msgs: A required package for message definitions.

📥 Subscribed Topics

Topic Name Message Type Description
/camera/exposure std_msgs/msg/Int32 Sets camera exposure. (Valid values: 0, 1, 2)
/cmd_vel geometry_msgs/msg/Twist Command velocity for drone movement.
/flip tello_msgs/msg/FlipControl Controls flips of the drone.
/land std_msgs/msg/Empty Triggers drone landing.
/takeoff std_msgs/msg/Empty Triggers drone takeoff.
/palm_land std_msgs/msg/Empty Activates palm landing feature.
/set_att_limit std_msgs/msg/Int32 Sets altitude limit for the drone. (in meters)
/throw_and_go std_msgs/msg/Empty Activates throw and go feature.
/toggle_fast_mode std_msgs/msg/Empty Toggles the drone's fast mode.

📤 Published Topics

Topic Name Message Type Description
/camera/image_raw sensor_msgs/msg/Image Camera images from the drone.
/flight_data tello_msgs/msg/FlightStats Flight data and statistics.
/imu sensor_msgs/msg/Imu IMU data of the drone.
/odom nav_msgs/msg/Odometry Odometry information. (It is very inacurate. Should be avoided)
/battery_state sensor_msgs/BatteryState Battery State information. (Percentage is from 0-100%)

🔧 ROS Parameters

Here are the configurable parameters for the tello_ros_wrapper:

Topics

Parameter Name Default Value Description
image_topic_name 'camera/image_raw' Topic name for camera images.
flight_data_topic_name 'flight_data' Topic name for flight data.
velocity_command_topic_name 'cmd_vel' Topic name for velocity commands.
land_topic_name 'land' Topic name for landing command.
takeoff_topic_name 'takeoff' Topic name for takeoff command.
flip_control_topic_name 'flip' Topic name for flip control.
odom_topic_name 'odom' Topic name for odometry data.
imu_topic_name 'imu' Topic name for IMU data.
toggle_fast_mode_topic_name 'toggle_fast_mode' Topic name for toggling fast mode.
camera_exposure_topic_name 'camera/exposure' Topic name for camera exposure control.

Frame IDs

Parameter Name Default Value Description
imu_frame_id 'imu' Frame ID for IMU data.
odom_frame_id 'odom' Frame ID for odometry data.
drone_frame_id 'tello' Frame ID for the drone.

Wifi Setup

Parameter Name Default Value Description
auto_wifi_connection false Automatically connect to Tello WiFi.
tello_ssid SSID for Tello WiFi connection.
tello_pw Password for Tello WiFi.

Settings

Parameter Name Default Value Description
alt_limit 30 Altitude limit in meters.
fast_mode false Enables fast mode for the drone.
video_mode '4:3' Sets video mode (options: '4:3', '16:9').
camera_exposure 0 Camera exposure level (0, 1, 2).