Ryze ROBOMASTER TT User manual

2021.04
Mission Pad and Flight Map User Guide
V1.0
ROBOMASTER TT

2
©2021 Ryze Tech. All Rights Reserved.
Introduction
Mission pads and ight maps are accessories used for programming the RoboMaster TT (Tello Talent):
The vision sensor of the drone detects the IDs of different mission pads and returns the relevant three-
dimensional coordinates in order to execute the corresponding programming commands.
TT comes standard with four mission pads with different patterns on the front and back, for a total of
eight IDs. The patterns on mission pad consist of three parts: a small rocket, the mission pad ID, and
planets.
Small rocket: This represents the positive direction of the x-axis in the mission pad coordinate system.
Mission pad ID: The pads are numbered 1-8, allowing users to distinguish between different mission
pads.
Planets: TT recognizes the ID of the mission pad by detecting the arrangement of the planets and
obtains the coordinate values in the coordinate system of the mission pad.
TT supports 3x3 m and 5x5 m ight maps, which can be regarded as large mission pads used in
the same way with the flight maps, TT can perform single-drone fixed-point flight and multi-drone
formation flight. The pattern of the flight map is composed of DJI Logo, decorative pattern, and
planets.
Small rocket
Mission pad ID
Planets
Decorative
pattern
Small planets
DJI Logo DJI Logo
Small planets
Decorative
pattern
DJI logo: This represents the positive direction of the x-axis in the mission pad coordinate system.
Decorative pattern: For decoration.
Planets: TT recognizes the ID of the fight map by detecting the arrangement of the planets and
obtains the coordinate values in the coordinate system of the ight map.
Download and print the source files of the flight maps or purchase them from a dealer. Note that
the maps must be printed on matte, textured, rough, and non-reflective material so they can be
recognized by the vision sensor of the drone.
Download the source les of ight maps at: https://www.dji.com/robomaster-tt/downloads

©2021 Ryze Tech. All Rights Reserved.
3
About the Mission Pad Coordinate System
The mission pad pattern contains a three-dimensional coordinate system, where the origin is at the
center and the mission pad is a plane described by an x-axis and y-axis. Each mission pad provides
an independent relative coordinate system. The coordinate systems of different mission pads do not
affect each other, so they can be combined and placed as required.
XY
Z
Operations
The mission pads only work with TT or Tello EDU drones that support SDK 2.0 or later versions.
1. Mission pad placement
Place the mission pad on a level surface and adjust the orientation of the rocket as needed.
2. Enable TT mission pad detection
• Place TT in the center of the mission pad and enter the SDK mode (refer to the RoboMaster TT
SDK instructions for details).
• After entering SDK mode, enable the mission pad detection function of TT with the "mon"
command.
• Enable forward or downward-looking mission pad detection with the "mdirection x" command
as needed.
3. Have TT recognize the mission pad
Command the TT to take off and hover. Instruct Tello to recognize the mission pad using the mid
parameter in the SDK and perform corresponding ight actions based on the coordinates and ID
information.
Command Descriptions
The following commands are used for mission pads.
Command Description Possible response
mon
Enable mission pad detection
Forward and downward-looking detection is
enabled by default ok / error
moff Disable mission pad detection

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mdirection x
X=0/1/2
0 Enable downward-looking detection
1 Enable forward-looking detection
2 Enable both forward and downward-looking
detection
* Before using this command, you must enable
the detection function with the mon command.
* When either forward-looking or downward-
looking detection is enabled alone, the detection
frequency is 20 Hz. If both enabled, detection
will be performed alternatively, with a frequency
of 10 Hz in each direction
ok / error
go x y z speed mid
Fly straight to the (x, y, z) coordinate point of the
mission pad with the set ID at the set speed (m/s)
x: -500 - 500
y: -500 - 500
z: -500 - 500
speed: 10-100 (cm/s)
x, y, and z cannot be between -20 and 20 at the
same time
ok/error + Error
message
mid: m1/m2…m7/m8/m-1/m-2
m1/m2…m7/m8: Correspond to the ID of the mission pad.
m-1: TT picks a detected mission pad at random.
m-2: TT detects the mission pad closest to its center.
Example: go 100 100 100 60 m1
Description: TT detects the mission pad with ID 1 with the enabled mission pad detection function.
If recognition succeeds, it will y straight to the coordinate point (100, 100, 100) in the mission pad
coordinate system at a speed of 60 cm/s. If recognition fails, it will hover in the air, return an error,
and wait for the next command.
Command Description Possible response
curve x1 y1 z1 x2 y2 z2
speed m(id)
The drone ies in an arc at the set speed (cm/s),
passing through
point (X1,y1,z1) to arrive at point (x2,y2,z2)
If the arc radius is not within 0.5-10 meters, a
corresponding reminder is returned.
x1, x2: -500 - 500
y1, y2: -500 - 500
z1, z2: -500 - 500
speed: 10-60
x, y, and z cannot be between -20 and 20 at the
same time
(x2,y2,z2) can be outside the recognizable
range of the coordinate system
ok/error + Error
message

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Example: curve 0 0 100 100 100 100 40 m2
Description: TT detects the mission pad with ID 2 with the enabled mission pad detection function.
If recognition succeeds, the drone will y to the coordinate point (0, 0, 100) and then to the coordinate
point (100, 100, 100) in the mission pad coordinate system along an arc at a speed of 40 cm/s.
If recognition fails, it will hover, return "Error. Not valid marker", and wait for the next command.
* The arc is the short arc of the only circle formed by the current position of the drone, (0, 0, 100)
and (100, 100, 100).
If the three points are on a straight line or the radius of the resulting circle is not within the range of
0.5 m - 10 m, an error is returned.
Command Description Possible response
jump x y z speed yaw
m(id1) m(id2)
Tello ies to point (x,y,z) of the mid1 coordinate
system and hovers, recognizes the mid2 mission
pad, and rotates to the set yaw value at position
(0,0,z) in the mid2 coordinate system
ok/error + Error
message
Example: jump 100 100 100 40 90 m1 m2
Description: TT detects the mission pad with ID 1 with the enabled mission pad detection function.
If recognition succeeds, TT will y to (100, 100, 100) in the mission pad coordinate system at the
speed of 40 m/s, hover, and attempt to recognize the mission pad with an ID of 2. If this mission pad
is recognized, the drone will rotate to a position 90° relative to the x-axis in the coordinate system of
the ID 2 pad.
If recognition fails in either recognition process, the drone will hover and return "Error. Not valid
marker".
TELLO Status
When the host computer sends "command" to Tello UDP port 8889 to enter the SDK mode, Tello will
send Tello status information to UDP port 8890 of the host computer. The data is a string, and the
content is as follows:
“mid:%d;x:%d;y:%d;z:%d;mpry:%d,%d,%d;pitch:%d;roll:%d;yaw:%d;vgx:%d;vgy%d;vgz:% d;temp
l:%d;temph:%d;tof:%d;h:%d;bat:%d;baro:%f;\r\n”
Description
• Mid: For the detected ID of the mission pad, -2 will be returned if the mission pad detection
function is not enabled, and -1 if the function is enabled but no pad is detected.
• x: The x-axis coordinate of the drone relative to the detected mission pad (in centimeters). -200 will
be returned if the mission pad detection function is not enabled, and -100 if no pad is detected.
• y: The y-axis coordinate of the drone relative to the detected mission pad (in centimeters).
-200 will be returned if the mission pad detection function is not enabled, and -100 if no pad is
detected.
• z: The z-axis coordinate of the drone relative to the detected mission pad (in centimeters).
-200 will be returned if the mission pad detection function is not enabled, and -100 if no pad is
detected.
• mpry: The pitch, yaw, and roll angles and degrees of the drone in the mission pad. If the mission
pad is not detected, 0 will be returned.

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• pitch: Pitch angle (in degrees)
• roll: Roll angle (in degrees)
• yaw: Yaw angle (in degrees)
• vgx: X-axis speed (dm/s)
• vgy: Y-axis speed (dm/s)
• vgz: Z-axis speed (dm/s)
• templ: The lowest temperature of the main board (°C)
• temph: The highest temperature of the main board (°C)
• tof: ToF distance (cm)
• h: Height relative to take-off point (cm)
• bat: Percentage of current remaining battery capacity
• baro: Height detected by barometer (m)
• time: Motor running time (s)
• agx: X-axis acceleration (cm/s2)
• agy: Y-axis acceleration (cm/s2)
• agz: Z-axis acceleration (cm/s2)
Effective Mission Pad Recognition Range
Recognizable height range: 0.3 - 1.2 m
Recognizable range at 0.3 m: 0.4 m×0.4 m
Recognizable range at 1.2 m: 1 m×1 m
Detectable range
0 m
0.3 m
1.2 m
1 m
0.4 m
1 m
0.4 m
If the mission pad is outside of TT's recognition area, TT may not be able to detect the
mission pad, and mid commands will be invalid.
We recommend you place the mission pad on a clear textured surface. Avoid placing it
on pure black or pure white backgrounds, otherwise TT may not be able to recognize the
mission pad.
When using the mission pad, ensure that the ambient light is moderate. Too little or too
much light will affect the recognition of the mission pad.
When the forward-looking camera is used to detect the mission pad, the mission pad
commands mentioned above cannot be used.

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7
Flight Map Coordinate System
The ight map pattern contains a three-dimensional coordinate system, where the origin is at the
center and the ight map is a plane described by an x-axis and y-axis.
Y
X
Operations
The ight maps only work with TT or Tello EDU drones that support SDK 3.0 or later versions.
1. Flight map placement
Lay the ight map on a level surface and adjust the orientation of the DJI logo as needed.
2. Enable TT mission pad detection
• Place TT in the center of the flight map and enter the SDK mode (refer to the Tello SDK
instructions for details).
• After entering SDK mode, enable the mission pad detection function of TT with the "mon" command.
• Enable forward or downward-looking mission pad detection with the "mdirection x" command
as needed.
3. Have TT recognize the ight map
Command the TT to take off and hover. Instruct Tello to recognize the ight map using the mid
parameter in the SDK and perform corresponding ight actions based on the coordinates and ID
information.
Command Descriptions
The ight map commands are the same as those of the mission pad. Note that the ID of the ight
map is 12.
Effective flight map recognition range
Recognizable height range: 0.9 – 2.0 m
Recognizable horizontal range: The effective programming range is 2.8 m×2.8 m
When the ight map is used, the instructions for using mission pads must also be followed.
Do not place small mission pads and other obstructions directly on the ight map to avoid
interference with ight map recognition by the downward-looking camera.
During formation ight, do not have one drone to y directly under another drone, as this
may block the recognition of the ight map. When planning the formation ight path, you
need to appropriately plan the routes of each drone to avoid collisions, which may cause
explosions.

Copyright © 2021 Ryze Tech. All Rights Reserved.
This content is subject to change.
Download the latest version from
https://www.dji.com/robomaster-tt/downloads