socket.md

WebSocket Server (Control, Set and State)

The WebSocket server to send control commands, set configurations and get the drone status by default uses the address ws://localhost:3001.

To send a single command that does not require arguments:

<COMMAND>

To send commands that require arguments, add the command at the beginning and separate the arguments by space :

<COMAND> <ARG1> <ARG2> <ARG3>

It is also possible to send raw commands based on the format used by the SDK. For example to move the drone forward using rc roll pitch throttle yaw:

rc 0 50 0 0

⚠️ The use of raw commands is subject to the format used by the Tello SDK

For more details on the communication model: Communication Model

List of commands

Control commands

Command	Description	Possible response
command	Enter SDK command mode. Allows commands to be sent to the drone, otherwise it is not possible to control the drone using commands.
takeoff	Auto take off	ok / error
land	Auto landing	ok/error
streamon	Turn on the video stream.	ok/error
streamoff	Turn off the video stream.	ok/error
emergency	Stop the motor from running.	ok/error
up <distance>	Fly upward. - distance:int in centimeters from 20 to 500	ok/error
down <distance>	Fly downward. - distance:int in centimeters from 20 to 500	ok/error
left <distance>	Fly leftward. - distance:int in centimeters from 20 to 500	ok/error
right <distance>	Fly rightward. - distance:int in centimeters from 20 to 500	ok/error
forward <distance>	Fly forward. - distance:int in centimeters from 20 to 500	ok/error
back <distance>	Fly backward. - distance:int in centimeters from from 20 to 500	ok/error
cw <angle>	Rotate clockwise. - angle:int in degrees from 1 to 360	ok/error
ccw <angle>	Rotate counter-clockwise. - angle:int in degrees from 1 to 360	ok/error
motoron	Enter Motor-On mode. Spin the motors at low speed (no-fly)	ok/error
motoroff	Exit Motor-On mode. Stops the rotation of the motors	ok/error
throwfly	Throw to launch. Throw the drone horizontally within 5s of sending the command	ok/error
flip <direction>	Roll in the given direction:char. - l (left) - r (right) - f (forward) - b (back)	ok/error
go <x> <y> <z> <speed>	Fly to the coordinates in cemtimeters (x,y,z) at the set speed (cm/s). - x:int from -500 to 500 - y:int from -500 to 500 - z:int from -500 to 500 - speed:int from 10-100 (cm/s) x, y, and z cannot be between -20 and 20 at the same time	ok/error + error
stop	Stop moving and hover immediately.	ok/error
curve <x1> <y1> <z1> <x2> <y2> <z2> <speed>	Fly in a curve from (x1,y1,z1) to (x2,y2,z2) at the set speed (cm/s). - If the radius of the curve is not within 0.5-10 meters, the corresponding reminder will be returned. - x1:int, x2:int from -500 to 500 - y1:int, y2:int from -500 to 500 - z1:int, z2:int from -500 to 500 - speed:int from 10 to 60 x, y, and z cannot be between -20 and 20 at the same time	ok/error + error status
go <x> <y> <z> <speed> <pad number>	Fly to the coordinate point (x, y, z) in the coordinate system of the mission pad number with the specified ID at the set speed (m/s). - x:int from -500 to 500 - y:int from -500 to 500 - z:int from 0 to 500 - speed:int from 10-100 (cm/s) x, y, and z cannot be between -20 and 20 at the same time	ok/error + error status
curve <x1> <y1> <z1> <x2> <y2> <z2> <speed> <pad number>	Fly in a curve from point (x1,y1,z1) to point (x2,y2,z2) in the coordinate system of the mission pad with the set pad number at the set speed (cm/s). If the radius of the curve is not within 0.5-10 meters, the corresponding reminder will be returned. - x1:int, x2:int from -500 to 500 - y1:int, y2:int from -500 to 500 - z1:int, z2:int from 0 to 500 - speed:int from 10 to 60 x, y, and z cannot be between -20 and 20 at the same time	ok/error + error status
jump <x> <y> <z> <speed> <yaw> <mission pad 1> <mission pad 2>	Tello flies to the point (x,y,z) in the mission pad 1 coordinate system and hovers. Then, it identifies the mission pad of mission pad 2 and rotates to the position (0,0,z) in the mission pad 2 coordinate system to set the yaw value (z>0).	ok/error + error status
reboot	Reboot the drone.	ok/error

Setting Commands

Used to configure drone parameters.

Command	Description	Possible response
speed <speed>	Set the current speed to cm/s. - speed:int from 10 to 100	ok/error
rc <roll> <pitch> <throttle> <yaw>	Remote control signals. - roll:int from -100 to 100 - pitch:int from -100 to 100 - throttle:int from -100 to 100 - yaw:int from -100 to 100	no response
wifi <ssid> <pass>	Change the Tello Wi-Fi password. - ssid:string The new Wi-Fi name. Do not use spaces in the name - pass: The new Wi-Fi password If an open-source controller is connected, ssid automatically adds the RMTT- prefix by default. Otherwise, it adds the TELLO- prefix.	OK, drone will reboot in 3s
mon	Enables mission pad. By default, downward detection is enabled.	ok/error
moff	Disables mission pad detection.	ok/error
mdirection <detection>	detection:intcan be 0, 1 or 2 - 0: downward detection enabled. - 1: forward detection enabled. - 2: both forward and downward detection enabled. note: Before use, you must use the mon command to enable the detection function. Downward detection is enabled by default. note: When either forward-looking or downward-looking detection is enabled alone, the detection frequency is 20Hz. If both enabled, detection will be performed alternatively, with a frequency of 10Hz in each direction	ok/error
ap <ssid> <pass>	Switch Tello to Access Point Mode - ssid:string name of the Wi-Fi network to connect to - pass:string the Wi-Fi password	OK, drone will reboot in 3s
wifisetchannel <channel>	Set the -WiFi channel of the open-source controller. channel indicates the channel to be set. Note: To clear the channel settings, you need to clear the Wi-Fi information. Then, set a channel that complies with local policies and regulations. (Only applies to the open-source controller)	ok / error
port <status port> <streaming port>	Set the ports for pushing drone's status information and video streams. Here, status port is the port for pushing status information, and streaming port is the port for pushing video information. The range of ports is 1025 to 65535.	ok/error
setfps <fps>	Set the video stream frame rate. The fps parameter specifies the frame rate, whose value can be: - high 30fps - middle 15fps - low 5fps	ok/error
setbitrate <bitrate>	Set the video stream bit rate. The bitrate parameter specifies the bit rate, with a value range from 0 to 5, indicating: - 0 auto - 1 1Mbps - 2 2MBps - 3 3Mbps - 4 4Mbps - 5 5Mbps	ok / error
setresolution <resolution>	Set the video stream resolution. The resolution parameter specifies the resolution, whose valuecan be: - high 720p - low 480p	ok/error

Read Commands

Used to get information about the drone and some parameters.

Command	Description	Possible response
speed?	Get the current set speed (cm/s).	speed:int from 10 to 100
battery?	Get the percentage (%) indicating the current battery level.	battery:int level from 10 to 100
time?	Get the motor running time (s).	time:int
wifi?	Get the Wi-Fi Signal-to-noise ratio (SNR).	SNR
sdk?	Get the Tello SDK version number.	version(>=20)
sn?	Get the Tello sertial number SN.	Production SN
hardware?	Get hardware type, whether TT is connected to an open-source controller. If yes, it returns RMTT; if not, it returns TELLO.	TELLO/RMTT
wifiversion?	Query the -WiFi version of the open-source controller. (Only applies to the open-source controller)	wifivx.x.x.x
ap?	Get the name and password of the current router to be connected. (Only applies to the open-source controller)	name and password of the router to be connected
ssid?	Get the current SSID of the drone. (Only applies to the open-source controller)	In Station mode: factory default SSID; In Access Point mode: userdefined SSID and password
multiwifi <ssid> <pass>	Set the SSID and password of the open-source controller. This feature supports connection to multiple devices as a router.	ok / error