Onboard SDK OPEN Protocol

Protocol Frame

The Protocal Frame is the smallest unit for transmission. It contains the Header, Data and the Tail as follows:

|<---------------------Header-------------------------->|<--Data-->|<--Tail-->|
|SOF|LEN|VER|SESSION|ACK|RES0|PADDING|ENC|RES1|SEQ|CRC16|   DATA   |  CRC32   |

Frame Format

Field	Index (byte)	Size (bit)	Description
SOF	0	8	starting byte, fixed to be 0xAA
LEN	1	10	len of frame
VER	1	6	version of the frame header, set to be 0
SESSION	3	5	session ID
ACK		1	frame type 0: CMD 1: ACK
RES0		2	reserved, fixed to be 0
PADDING	4	5	len of padding data used by the Data encryption
ENC	4	3	encryption type 0: no encryption 1: AES encryption
RES1	5	24	reserved, fixed to be 0
SEQ	8	16	frame sequence num
CRC16	10	16	CRC16 frame header checksum
DATA	12	variable size	frame data
CRC32	variable size	32	CRC32 whole frame checksum

Note: After CRC16 encryption, developers should update the PADDING and LEN part in your frame header before doing CRC32 encryption.

Frame Type

There are two types of frames.

Frame Type	Data Type	Transmission Direction	Content
CMD frame	CMD frame data	Onboard Embedded System (OES) <=> Autopilot	flight control related CMDs
ACK frame	ACK frame data	Autopilot <=> Onboard Embedded System (OES)	ACK related data

CMD frame data

|<------CMD frame data------>|
| CMD SET | CMD ID | CMD VAL |

Field	Index (byte)	Size (byte)
CMD SET	0	1
CMD ID	1	1
CMD VAL	2	vary by CMDs

ACK frame data

|<-ACK frame data->|
|      ACK VAL     |

Field	Index (byte)	Size (byte)
ACK VAL	0	vary by ACKs

SEQ field in ACK frame is the same as the one in corresponding CMD frame. Developers can use the SEQ field of the ACK frame to match the corresponding CMD frame.

Protocal Transmission Mechanism

Session

The session mechanism has been used in order to prevent the exceptions such as package loss. 3 kinds of session have been introduced:

Type	SESSION	Description
0	0	Sender doesn't need ACKs.
1	1	Sender needs ACKs but can be tolerated.
2	2-31	Sender needs ACKs.*

Note: Type 1 and Type 2 can ONLY be applied to the CMDs which have ACKs.

Since type 2 is designed to be reliable. Developers should implement the package loss & resending mechinism based on the current SEQ and SESSION fields. When package loss is found from the sender, the sender can send the CMD frame again with the same SEQ and SESSION lost previously to retrieve back the ACK frame.

Encryption (optional)

DJI designs encryption interface in communication between OES and autopilot, considering it is possible that developer implement the communication with unsafe channel, for example various types of wireless transparent transmission module.

AES encrypting is designed only for data part of a frame. And developers can encrypt their own data with a key which is despatched when they register the APP ID, and encryption function in DJI_LIB.

Due to encryption process, data need to be aligned into blocks and each one contains 16 bytes. 'PADDING' in frame header is the length of additional data generated in this progress. Also 'LEN' need to be caclulated again, and 'ENC' need to be set to '1'. For more details about encryption algorithm, please refer to sdk_encrypt_interface in DJI_Codec.cpp .

On the other hand, there is no need to encrypt data, when developers use a serial cable to connect OES and autopilot. In this case, just set 'ENC' to '0'.

Note: By default, encryption is turned OFF in the SDK. Enable it by going to DJI_Config.h and uncommenting the USE_ENCRYPT macro.

CMD Set & CMD ID

Each CMD Set contains some CMD IDs for different operations.

Function Index

CMD Set	CMD ID	Function
0x00 Initialization CMD Set	0x00	Get Protocal Version
	0x01	Activation
	0x10	Set 'Flight Data' frequency
	0xFE	Data Transparent Transmission From Onboard SDK to Mobile SDK
0x01 Control CMD Set	0x00	Obtain/Release Control Authorization
	0x01	Switch Flight Mode
	0x02	Request Switch Result
	0x03	Movement Control
	0x05	Arm/Disarm
	0x1A	Gimbal Control in Rate
	0x1B	Gimbal Control in Position
	0x20	Take Photo
	0x21	Start Recording Video
	0x22	Stop Recording Video
0x02 Push Data CMD Set	0x00	Flight Data
	0x01	Lost of Flight Control
	0x02	Data Transparent Transmission From Mobile SDK to Onboard SDK
	0x03	Ground Station State
	0x04	Waypoint Event
0x03 Ground Station CMD Set Waypoint	0x10	Upload Waypoint Mission Settings
	0x11	Upload Waypoint Data
	0x12	Start/Stop waypoint
	0x13	Pause/Resume waypoint
	0x14	Read Waypoint Init Status (Available In 3.2 Release)
	0x15	Read Single Waypoint Status (Available In 3.2 Release)
	0x16	Set idle speed
	0x17	Get idle speed
0x03 Ground Station CMD Set Hotpoint	0x20	Start hotpoint
	0x21	Stop hotpoint
	0x22	Pause/Resume hotpoint
	0x23	Set idle speed
	0x24	Set radius
	0x25	Reset yaw
	0x26	Read HotPoint info from flight controller
	0x27	Set Auto Radius
0x03 Ground Station CMD Set Follow Me	0x30	Start follow me
	0x31	Stop follow me
	0x32	Pause/Resume follow me
	0x33	Set target pos info
0x04 Sync signal CMD Set	0x00	Set Sync signal output frequency
0x05 Virual RC CMD Set	0x00	Virual RC request
0x05 Virual RC CMD Set	0x01	Virual RC data

CMD Val & ACK Val

Activation CMD Set: 0x00

CMD ID 0x00: Get Protocal Version

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	arbitrary num
ACK Val	0	2	Return Code 0x0000: Autopilot is activated 0xFF01: Autopilot is NOT activated
	2	4	The CRC val of the protocal version
	6	32	protocal version

CMD ID 0x01: Activation

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	4	app_id, app unique identifer
	8	4	Fixed value: M100: 0x03010A00 A3: 0x03016400
	12	32	Fixed string, "12345678901234567890123456789012"
ACK Val	0	2	Return Code: 0x0000: Success 0x0001: Invalid parameters 0x0002: Cannot recognize the encrypted package 0x0003: New APP ID, please connect DJI GO APP 0x0004: No response from DJI GO APP 0x0005: No Internet from DJI GO APP 0x0006: Server rejected 0x0007: Authorization level insufficient 0x0008: Wrong SDK version

CMD ID 0x10: Set 'Flight Data' frequency

M100:

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	time stamp
	1	1	attitude quaternion
	2	1	linear acceleration
	3	1	linear velocity
	4	1	angular velocity
	5	1	GPS location, altitude and height
	6	1	magnetometer
	7	1	remote controller data
	8	1	roll, pitch and yaw of gimbal
	9	1	flight status
	10	1	battery info
	11	1	control device
	12	4	reserved
ACK Val	0	2	Return Code 0x0000: success 0x0001: param error

A3:

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	time stamp
	1	1	attitude quaternion
	2	1	linear acceleration
	3	1	linear velocity
	4	1	angular velocity
	5	1	GPS location, altitude and height
	6	1	GPS detailed information
	7	1	RTK detailed information
	8	1	magnetometer
	9	1	remote controller data
	10	1	roll, pitch and yaw of gimbal
	11	1	flight status
	12	1	battery info
	13	1	control device
	14	2	reserved
ACK Val	0	2	Return Code 0x0000: success 0x0001: param error

Val	Freq
0	0Hz
1	1Hz
2	10Hz
3	50Hz
4	100Hz
5	Last freq

CMD Set 0x01 Control CMDs

CMD ID 0x00: Obtain/Release Control Authorization

Please make sure the following conditions have been met:

The 'enable API control' box is checked in the assistant software.
The mode selection bar of the remote controller is placed at the F position.

Due to the consideration of safety, all requests of obtain control and release control need to be sent twice and the first ACK will be fail. In our official library, we have already implemented this feature.

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01: request to obtain control authorization 0x00: request to release control authorization
ACK Val	0	2	Return Code 0x0000: the mode selection bar of the remote controller is not placed at the F mode position (P mode for A3 FW > 1.5.0.0) 0x0001: successfully released control authorization 0x0002: successfully obtained control authorization 0x0003: failed obtained control authorization 0x0004: failed realeased control authorization 0x00C9: in IOC mode

CMD ID 0x01 Switch Flight Mode

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	CMD Sequence Number
CMD Val	1	1	0x01 : return to home(RTH) 0x04 : auto take off 0x06 : auto landing
ACK Val	0	2	Return Code 0x0001: execution fail 0x0002: start executing

Note: auto takeoff only works when motor isn't running

CMD ID 0x02 Request Switch Result

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	CMD Sequence Number
ACK Val	0	2	Return Code 0x0001: wrong CMD Sequence Number 0x0003: switching in progress 0x0004: switching failed 0x0005: switching succeed

CMD ID 0x03 Movement Control

For more info about Movement Control, please refer to the Onboard SDK source code files.

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	---	Control mode byte
	1	4	float32	Roll or X-axis control value
	5	4	float32	Pitch or Y-axis control value
	9	4	float32	Throttle or Z-axis control value
	13	4	float32	Yaw control value
ACK Val	---	---	---	N/A

CMD ID 0x05 Arm/Disarm

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01 : Arm 0x00 : Disarm
ACK Val	0	2	Return Code 0x0000: Arm/Disarm Successfully 0x0001: Please obtain control at first 0x0002: Already Armed/Disarmed 0x0003: Cannot disarm when drone not in the air

CMD ID 0x1A Gimbal Control in Rate

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	2	int16_t	Yaw in rate unit 0.1º/s, input range[-1800,1800]
	2	2	int16_t	Roll in rate unit 0.1º/s, input range[-1800,1800]
	4	2	int16_t	Pitch in rate unit 0.1º/s, input range[-1800,1800]
	6	1	7 bit 1 bit	Reserved Enable Control
ACK Val	---	---	---	N/A

Note: M600 with A3 only supports Ronin-MX/Zenmuse X5 Series/Zenmuse X3/Zenmuse XT when operating gimbal control in rate.

CMD ID 0x1B Gimbal Control in Position

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	2	int16_t	Yaw angle unit 0.1º, input range [-3200,3200]
	2	2	int16_t	Roll angle unit 0.1º, input range [-350,350]
	4	2	int16_t	Pitch angle unit 0.1º, input range [-900,300]
	6	1	---	control flag byte bit 0: mode flag bit 0 : Incremental control, the angle reference is the current Gimbal location 1 : Absolute control, the angle reference is related to configuration in DJI Go App bit 1: Yaw invaild bit 0 : Gimbal will follow the command in Yaw 1 : Gimbal will maintain position in Yaw bit 2: Roll invaild bit, the same as bit[1] bit 3: Pitch invaild bit, the same as bit[1] bit [4:7]: reserved, set to be 0
	7	1	uint8_t	Command completion time unit 0.1s, for example 20 means gimbal will reach the commended postition in 2 seconds rotate rate beyond 400º/s is not recommand
ACK Val	---	---	---	N/A

The relationship bewteen the angle reference in absolute control mode and gimbal mode configuration in DJI Go App

Gimbal Mode	Roll	Pitch	Yaw	Gimbal Follow UAV's Head
Follow	Ground	Ground	Body	Y
FPV	N/A	Ground	N/A	Y
Free	Ground	Ground	Ground	N

Note: Rotating 90 degree in pitch direction will cause gimbal lock problem, in which the value of roll and yaw are not reliable.

Note: M600 with A3 only supports Ronin-MX/Zenmuse X5 Series/Zenmuse X3/Zenmuse XT when operating gimbal control in angle.

CMD ID 0x20 Take Photo

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	arbitrary number
ACK Val	---	---	N/A

Note: M600 with A3 only supports Zenmuse Series when operating camera control.

CMD ID 0x21 Start Video Recording

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	arbitrary number
ACK Val	---	---	N/A

>Note: M600 with A3 only supports Zenmuse Series when operating camera control.

CMD ID 0x22 Stop Video Recording

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	arbitrary number
ACK Val	---	---	N/A

Note: M600 with A3 only supports Zenmuse Series when operating camera control.

CMD Set 0x02 Push Data CMD Set

CMD ID 0x00 Flight Data

The flight data from the Autopilot can be configured by the DJI assistant software. More info about Flight Data, please refer to the Onboard SDK source code files.

Data Type	Size (byte)	Description
CMD Val	2	item presence byte, Bit with value 1 means this flight data contains corresponding data item M100: bit 0: flag of time stamp bit 1: flag of attitude quaternion bit 2: flag of linear acceleration bit 3: flag of linear velocity bit 4: flag of angular velocity bit 5: flag of GPS location, altitude and healthiness bit 6: flag of magnetometer bit 7: flag of remote controller data bit 8: flag of roll, pitch and yaw of gimbal bit 9: flag of flight status bit 10: flag of battery info bit 11: flag of control device bit [12:15]: reserved A3: bit 0: flag of time stamp bit 1: flag of attitude quaternion bit 2: flag of linear acceleration bit 3: flag of linear velocity bit 4: flag of angular velocity bit 5: flag of GPS location, altitude and healthiness bit 6: flag of GPS detailed information bit 7: flag of RTK detailed information bit 8: flag of magnetometer bit 9: flag of remote controller data bit 10: flag of roll, pitch and yaw of gimbal bit 11: flag of flight status bit 12: flag of battery info bit 13: flag of control device bit [14:15]: reserved
	9	Time stamp
	16	Attitude quaternion
	12	Linear acceleration
	13	Linear velocity
	12	Angular velocity
	25	GPS position, altitude, height and healthiness
	68	GPS detailed information (A3 only)
	74	RTK detailed information (A3 only)
	6	Magnetometer data
	12	Remote controller channels
	13	Roll, pitch and yaw of Gimbal
	1	Flight status
	1	Battery percentage
	2	Control device

Note: The actual offset of data item in the flight data should be calculated by the flags of 'item presence byte'.

CMD ID 0x01 Lost of Flight Control

OES has the lowerest control priority. Its control authorization can be taken over by remote controller and Mobile Device. Once the flight control is lost from the OES, a push data will be sent by the Autopilot.

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	Fixed value, set to be 0x04
ACK Val	---	---	N/A

CMD ID 0x03 Ground Station State

For more info about Ground Station, please refer to the Onboard SDK source code files.

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	6	Ground Station State package
ACK Val	---	---	N/A

CMD ID 0x04 Waypoint Event

For more info about Ground Station, please refer to the Onboard SDK source code files.

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	6	Waypoint Event package
ACK Val	---	---	N/A

CMD Set 0x03 Ground Station CMD Set

For more info about Ground Station, please refer to the Onboard SDK source code files.

CMD ID 0x10 Upload Waypoint Mission Settings

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	51	WayPointInitData	waypoint mission information
ACK Val	0	1	uint8_t	Return Code: 0x00: No error 0xD1: need to obtain control authorization 0xD4: uav has been in waypoint 0xC8: not support waypoint 0xE0: waypoint parameter is wrong, out of range

CMD ID 0x11 Upload waypoint data

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	waypoint index
CMD Val	1	90	WayPointData	waypoint information
ACK Val	0	1	uint8_t	Return Code: 0x00: No error 0xD4: uav has been in waypoint 0xDD: pass limit area 0xE1: data invaild 0xE2: trace too lang(15km) 0xE4: index over range 0xE5: waypoint too close 0xE6: waypoint too far 0xE7: 'damping_dis' check faild 0xE8: waypoint action data invaild 0xE9: missing remaining waypoint 0xEA: waypoint info not upload
	0	1	uint8_t	waypoint index
	3	90	WayPointData	waypoint index information

CMD ID 0x12 Start/Stop waypoint

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01 : Stop waypoint 0x00 : Start waypoint
ACK Val	0	1	Return Code: 0x00: no error 0xC0: waypoint altitude too high 0xC7: waypoint out of radius limited 0xD7: followme is running 0xD8: bad GPS 0xD9: low battery capacity 0xDA: UAV is not in air 0xDE: bad GPS, home position is not recorded 0xE3: total waypoints too long(15km) 0xEA: waypoint info not upload 0xEB: waypoint data not upload 0xEC: request is running 0xF4: wrong CMD Val

#### CMD ID 0x13 Pause/Resume waypoint

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01 : Resume waypoint 0x00 : Pause waypoint
ACK Val	0	1	Return Code: 0x00: no error 0xED: waypoint is not running 0xF4: wrong CMD Val

CMD ID 0x14 Read Waypoint Init Status (Available in 3.2 Release)

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xEA: waypoint info not upload
ACK Val	1	51	WayPointInitData	waypoint initialized mission information

CMD ID 0x15 Read Single Waypoint Status (Available in 3.2 Release)

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	waypoint index
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xEB: waypoint data not upload
	2	1	uint8_t	waypoint index
	3	90	WayPointData	waypoint index information

CMD ID 0x16 Set idle speed

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	*	float32	idle speed
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xD1: need to obtain control authorization 0xEA: waypoint info not upload 0xEE: idle speed invalid

CMD ID 0x17 Get idle speed

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xD1: need to obtain control authorization 0xEA: waypoint info not upload
ACK Val	1	2	float32	idle speed

CMD ID 0x20 Start hotpoint

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	51	HotPointData	hotpoint mission settings
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xA2: invaild float value 0xA3: invaild lati and lonti 0xA6: unknown direction 0xC0: altitude too high 0xC1: altitude too low 0xC2: radius out of range(5m~500m) 0xC3: speed too large 0xC4: invaild start position 0xC5: invaild yaw mode 0xC7: radius limited 0xC8: not support 0xC9: uav is too far from hotpoint 0xD3: hotpoint is not inited 0xD5: hotpoint is running 0xD6: uav cannot get to hotpoint 0xD7: waypoint or followme is running 0xD8: bad GPS 0xD9: low battery capacity 0xDA: UAV is not in air 0xDC: uav is taking off, landing or going home 0xDD: pass limit area 0xDE: bad GPS, home position is not recorded

CMD ID 0x21 Stop hotpoint

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xD1: need to obtain control authorization 0xD5: hotpoint is not running

CMD ID 0x22 Pause/Resume hotpoint

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01 : Resume hotpoint 0x00 : Pause hotpoint
ACK Val	0	1	Return Code: 0x00: no error 0xD5: hotpoint is not running 0xA9: hotpoint has pasued 0xAA: hotpoint does not pasue

CMD ID 0x23 Set idle speed

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	is clockwise
CMD Val	1	4	float32	idle speed
ACK Val	---	---	---	N/A

CMD ID 0x24 Set radius

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	4	float32	radius
ACK Val	---	---	---	N/A

CMD ID 0x25 Reset yaw

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	---	---	---	N/A

CMD ID 0x26 Read Hotpoint Task Info From Flight Controller

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xD5: hotpoint is not running
ACK Val	1	51	HotPointData	hotpoint mission settings

CMD ID 0x27 Enable auto radius mode

Data Type	Offset(byte)	Length(byte)	Data Type	Description
CMD Val	0	1	uint8_t	enable(1:start, 0:stop)
CMD Val	1	1	int8_t	rate(rate of radiu change)
ACK Val	0	1	uint8_t	Return Code: 0x00: Success other error code

CMD ID 0x30 Start follow me

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	23	FollowData	follow me settings
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xB0: target is too far from uav (over 20000m) 0xC1: uav is too low 0xC7: distance between target and uav out of radius 0xC8: not support follow me 0xD1: need to obtain control authorization 0xD3: follow me is not inited 0xD5: follow me is running 0xD8: bad GPS 0xD9: low battery capacity 0xDA: UAV is not inair 0xDE: bad GPS, home position is not recorded

CMD ID 0x31 Stop follow me

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	1	uint8_t	Return Code: 0x00: no error 0xD1: need to obtain control authorization 0xD4: follow me is not running

CMD ID 0x32 Pause/Resume follow me

Data Type	Offset (byte)	Size (byte)	Description
CMD Val	0	1	0x01 : Resume follow me 0x00 : Pause follow me
ACK Val	0	1	Return Code: 0x00: no error 0xD4: follow me is not running

CMD ID 0x33 Set target pos info

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	1	uint8_t	arbitrary num
ACK Val	0	20	FollowTarget	target information

CMD Set 0x04 Sync signal CMD Set

CMD ID 0x00 Set synchronization signal frequency

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	4	uint32_t	0 means that a single sync signal output, other value indicates the frequency of sync signal output, unit hz
ACK Val	---	---	---	N/A

Set 0x05 Virtual RC CMD set

For more info about virual RC, please refer to the Onboard SDK source code files.

CMD ID 0x00 Virual RC request

Data Type

Offset (byte)

Size (byte)

Description

CMD Val

bit 0:

bit 1:

bit 2:7

reversed

ACK Val

---

N/A

CMD ID 0x01 Virtual RC data

Data Type	Offset (byte)	Size (byte)	Data Type	Description
CMD Val	0	4 * 16	uint32_t[16]	data of sixteen channels，range[1024-660， 1024+660]
ACK Val	---	---	---	N/A

Onboard SDK

Protocol Frame

Frame Format

Frame Type

CMD frame data

ACK frame data

Protocal Transmission Mechanism

Session

Encryption (optional)

CMD Set & CMD ID

Function Index

CMD Val & ACK Val

Activation CMD Set: 0x00

CMD ID 0x00: Get Protocal Version

CMD ID 0x01: Activation

CMD ID 0x10: Set 'Flight Data' frequency

CMD Set 0x01 Control CMDs

CMD ID 0x00: Obtain/Release Control Authorization

CMD ID 0x01 Switch Flight Mode

CMD ID 0x02 Request Switch Result

CMD ID 0x03 Movement Control

CMD ID 0x05 Arm/Disarm

CMD ID 0x1A Gimbal Control in Rate

CMD ID 0x1B Gimbal Control in Position

CMD ID 0x20 Take Photo

CMD ID 0x21 Start Video Recording

CMD ID 0x22 Stop Video Recording

CMD Set 0x02 Push Data CMD Set

CMD ID 0x00 Flight Data

CMD ID 0x01 Lost of Flight Control

CMD ID 0x03 Ground Station State

CMD ID 0x04 Waypoint Event

CMD Set 0x03 Ground Station CMD Set

CMD ID 0x10 Upload Waypoint Mission Settings

CMD ID 0x11 Upload waypoint data

CMD ID 0x12 Start/Stop waypoint

CMD ID 0x14 Read Waypoint Init Status (Available in 3.2 Release)

CMD ID 0x15 Read Single Waypoint Status (Available in 3.2 Release)

CMD ID 0x16 Set idle speed

CMD ID 0x17 Get idle speed

CMD ID 0x20 Start hotpoint

CMD ID 0x21 Stop hotpoint

CMD ID 0x22 Pause/Resume hotpoint

CMD ID 0x23 Set idle speed

CMD ID 0x24 Set radius

CMD ID 0x25 Reset yaw

CMD ID 0x26 Read Hotpoint Task Info From Flight Controller

CMD ID 0x27 Enable auto radius mode

CMD ID 0x30 Start follow me

CMD ID 0x31 Stop follow me

CMD ID 0x32 Pause/Resume follow me

CMD ID 0x33 Set target pos info

CMD Set 0x04 Sync signal CMD Set

CMD ID 0x00 Set synchronization signal frequency

Set 0x05 Virtual RC CMD set

CMD ID 0x00 Virual RC request

CMD ID 0x01 Virtual RC data

Search Onboard SDK Document

{{{(item.highlights && item.highlights.title) || item.title}}}