DJI Tello

Introduction 

DJI Tello is controlled using UDP socket communication. The DJI Tello platform package provides a bridge between Aerostack2 and DJI Tello.

sudo apt install ros-humble-as2-platform-tello

Warning

This package is not available for binary installation yet. Cooming soon.

For source installation, clone Aerostack2 repository into your workspace and build it. See it in Aerostack2 installation guide.

For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts.

These are supported control modes:

Control Modes DJI Tello Platform
Control Mode	Yaw Mode	Reference Frame
Hover	None	None
Speed	Speed	ENU

These are supported sensors:

Sensors DJI Tello Platform
Sensor	Topic	Type
Odometry	sensor_measurements/odom	nav_msgs/Odometry
IMU	sensor_measurements/imu	sensor_msgs/Imu
Battery	sensor_measurements/battery	sensor_msgs/BatteryState
Barometer	sensor_measurements/barometer	sensor_msgs/FluidPressure
Camera	sensor_measurements/camera	sensor_msgs/Image

Aerostack2 DJI Tello platform provides a launch file, which parameters are:

DJI Tello Platform Parameters
Parameter	Type	Description
namespace	string	Namespace of the platform, also named as drone id.
config	string	Optional. File yaml path with the config file that set: command frequency in Hz (cmd_freq), info frequency in Hz (info_freq) and file path with the control modes configuration (control_modes_file). Default the file in the package.
dji_app_config	string	Text file with the DJI app configuration. Must have the following format: app_id: <your_app_id> app_key: <your_app_key> device: /dev/ttyUSB0 baudrate: 921600 acm_port: /dev/ttyACM0
simulation_mode	bool	Optional, default false. Use for simulation with DJI Assistant 2.

Example of launch command:

ros2 launch as2_platform_dji_osdk as2_platform_dji_osdk_launch.py namespace:=drone1 dji_app_config:=UserConfig.txt