设备属性
Property
pushMode：
- 0：设备推送定频数据，设备将以 0.5HZ 的频率定时上报
- 1：设备推送状态数据，设备在状态变化时上报
accessMode：
- r：属性只读
- rw：属性可读写
| Column | Name | Type | accessMode | pushMode | constraint | Description |
|---|---|---|---|---|---|---|
| payloads | 负载状态 | array | r | 1 | {} | |
| »[array_item] | Elements in array | struct | r | 1 | {} | {"size": ""} |
| »»control_source | 负载控制权 | text | ||||
| »»payload_index | 负载编号 | text | 负载索引，格式为 {type-subtype-gimbalindex} | |||
| »»firmware_version | 固件版本 | text | ||||
| »»sn | 负载序列号（SN） | text | ||||
| mode_code | 飞行器状态 | enum_int | r | 0 | {"0":"待机","1":"起飞准备","2":"起飞准备完毕","3":"手动飞行","4":"自动起飞","5":"航线飞行","6":"全景拍照","7":"智能跟随","8":"ADS-B 躲避","9":"自动返航","10":"自动降落","11":"强制降落","12":"三桨叶降落","13":"升级中","14":"未连接","15":"APAS","16":"虚拟摇杆状态","17":"指令飞行"} | |
| distance_limit_status | 飞行器限远状态 | struct | rw | 0 | ||
| »state | 是否开启限远 | enum_int | {"0":"未设置","1":"已设置"} | |||
| »distance_limit | 限远距离 | int | {"max":"8000","min":"15","step":"1","unit":"米 / m"} | |||
| »is_near_distance_limit | 是否接近设定的限制距离 | enum_int | r | {"0":"未达到设定的限制距离","1":"接近设定的限制距离"} | ||
| wpmz_version | 飞行器的航线解析库版本号 | text | r | 1 | 若飞行器的固件版本过低，查询会报异常，机场将向云端推送 1.0.2 版本的 WPMZ | |
| rth_altitude | 返航高度 | int | rw | 0 | {"max":500,"min":20,"unit":"米 / m"} | 返航高度 |
| rc_lost_action | 遥控器失控动作 | enum_int | rw | 0 | {"0":"悬停","1":"着陆(降落)","2":"返航"} | 遥控器失控动作 |
| exit_wayline_when_rc_lost | [废弃]航线失控动作 | enum_int | rw | 0 | {"0":"继续执行航线任务","1":"退出航线任务，执行遥控器失控动作"} | 执行航线时失控了，选择继续执行完航线，还是执行遥控器失控动作 |
| cameras | 飞行器相机信息 | array | r | 0 | {} | |
| »[array_item] | Elements in array | struct | r | 0 | {} | {"size": ""} |
| »»remain_photo_num | 剩余拍照张数 | int | 剩余拍照张数 | |||
| »»remain_record_duration | 剩余录像时间 | int | {"unit":"秒 / s"} | 剩余录像时间 | ||
| »»record_time | 视频录制时长 | int | {"unit":"秒 / s"} | 视频录制时长 | ||
| »»payload_index | 负载编号 | text | 负载编号，相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持 | |||
| »»camera_mode | 相机模式 | enum_int | {"0":"拍照","1":"录像"} | 相机模式 | ||
| »»photo_state | 拍照状态 | enum_int | {"0":"空闲","1":"拍照中"} | 拍照状态 | ||
| »»screen_split_enable | 分屏是否使能 | bool | {"true":"分屏使能开启","false":"分屏使能关闭"} | |||
| »»recording_state | 录像状态 | enum_int | {"0":"空闲","1":"录像中"} | 录像状态 | ||
| »»zoom_factor | 变焦倍数 | float | {"max":200,"min":2} | |||
| »»ir_zoom_factor | 红外变焦倍数 | float | {"max":20,"min":2} | 红外变焦倍数 | ||
| »»liveview_world_region | 视场角（FOV）在 liveview 中的区域 | struct | [{"accessMode":"r","dataType":{"max":1,"min":0,"type":"float"},"desc":"左上角的 x 轴起始点","identifier":"left","name":"左上角的 x 轴起始点","pushMode":0,"required":false},{"accessMode":"r","dataType":{"max":1,"min":0,"type":"float"},"desc":"左上角的 y 轴起始点","identifier":"top","name":"左上角的 y 轴起始点","pushMode":0,"required":false},{"accessMode":"r","dataType":{"max":1,"min":0,"type":"float"},"desc":"右下角的 x 轴起始点","identifier":"right","name":"右下角的 x 轴起始点","pushMode":0,"required":false},{"accessMode":"r","dataType":{"max":1,"min":0,"type":"float"},"desc":"右下角的 y 轴起始点","identifier":"bottom","name":"右下角的 y 轴起始点","pushMode":0,"required":false}] | 变焦相机的视场角相对于广角相机或者红外相机的视场角，在 liveview 中会有所不同。坐标原点为镜头左上角。 | ||
| {type-subtype-gimbalindex} | {{type-subtype-gimbalindex}_AEncSWZTyQ} | struct | r | 0 | {{type-subtype-gimbalindex}_XeIeqFlRLP} | |
| »thermal_current_palette_style | 调色盘样式 | enum_int | rw | {"0":"白热","1":"黑热","2":"描红","3":"医疗","5":"彩虹 1","6":"铁红","8":"北极","11":"熔岩","12":"热铁","13":"彩虹 2"} | 红外相机提供多种调色样式，用户可根据不同的场景选择不同的色彩，便于更加清晰地查看目标 | |
| »thermal_supported_palette_styles | 设备支持的调色盘样式集合 | array | {"item":{"specs":{"0":"白热","1":"黑热","2":"描红","3":"医疗","5":"彩虹 1","6":"铁红","8":"北极","11":"熔岩","12":"热铁","13":"彩虹 2"},"type":"enum_int"}} | 不同设备所支持的样式能力有所不同 | ||
| »thermal_gain_mode | 增益模式 | enum_int | rw | {"0":"自动","1":"低增益, 测温范围0°C-500°C","2":"高增益, 测温范围-20°C-150°C"} | 低增益提供更大的测温范围，高增益拥有更高的测温精度 | |
| »thermal_isotherm_state | 是否开启等温线 | enum_int | rw | {"0":"关闭","1":"开启"} | 等温线允许用户观测自己感兴趣的温度区间的内容，让兴趣温度区间的物体能更加凸显 | |
| »thermal_isotherm_upper_limit | 测温区间上限 | int | rw | {"unit":"摄氏度 / °C"} | 仅启用等温线功能后有效 | |
| »thermal_isotherm_lower_limit | 测温区间下限 | int | rw | {"unit":"摄氏度 / °C"} | 仅启用等温线功能后有效 | |
| »thermal_global_temperature_min | 全局画面中测量的最低温度 | float | r | {"unit":"摄氏度 / °C"} | ||
| »thermal_global_temperature_max | 全局画面中测量的最高温度 | float | r | {"unit":"摄氏度 / °C"} | ||
| country | 国家区域码 | text | r | 0 | ||
| rid_state | RID 工作状态 | bool | r | 0 | {"true":"正常","false":"异常"} | |
| commander_mode_lost_action | [新增]指点飞行失控动作 | enum_int | rw | 1 | {"0":"继续执行指点飞行任务","1":"退出指点飞行任务，执行普通失控行为"} | 执行指点飞行时失控了，选择继续执行完，还是执行普通失控行为 |
| current_commander_flight_mode | [新增]指点飞行模式当前值 | enum | r | 1 | {"0":"智能高度飞行","1":"设定高度飞行"} | 指点飞行模式当前值 |
| commander_flight_height | [新增]指点飞行高度 | float | rw | 1 | {"unit":"米 / m","min":2,"max":3000,"step":0.1} | 相对(机场)起飞点的高度，相对高 ALT |
| mode_code_reason | 飞行器进入当前状态的原因 | enum_int | r | 1 | {"0":"无意义","1":"电池电量不足（返航、降落）","2":"电池电压不足（返航、降落）","3":"电压严重过低（返航、降落）","4":"遥控器按键请求（起飞、返航、降落）","5":"App 请求（起飞、返航、降落）","6":"遥控信号丢失（返航、降落、悬停）","7":"导航、SDK 等外部设备触发（起飞、返航、降落）","8":"进入机场限飞区（降落）","9":"虽然触发了返航但是因为距离 Home 点距离太近（降落）","10":"虽然触发了返航但是因为距离 Home 点距离太远（降落）","11":"执行航点任务时请求（起飞）","12":"返航阶段到达 Home 点上方后请求（降落）","13":"飞行器高度下降，距地面 0.7m（二段降落限低）时，继续下降导致（降落）","14":"App、SDK 等设备强制突破限低保护进行（降落）","15":"因为周围有航班经过而请求（返航、降落）","16":"因为高度控制失败请求（返航、降落）","17":"智能低电量返航后进入（降落）","18":"AP 控制飞行模式（手动飞行）","19":"硬件异常（返航、降落）","20":"防触地保护结束（降落）","21":"返航取消 (悬停)","22":"返航时遇到障碍物（降落）","23":"机场场景下大风触发（返航）"} | |
| gear | 档位 | enum_int | r | 0 | {"0":"A","1":"P","2":"NAV","3":"FPV","4":"FARM","5":"S","6":"F","7":"M","8":"G","9":"T"} | |
| firmware_version | 固件版本 | text | r | 1 | {"length":"64"} | |
| compatible_status | 固件一致性 | enum_int | r | 1 | {"0":"不需要一致性升级","1":"需要一致性升级"} | 一致性升级：指飞行器某些模块的固件版本与系统匹配版本不一致，需要进行升级。常见的情况例如：飞行器与遥控器已经升级至最新版本，但替换电池时发现电池未升级，此时一致性升级将被提示。普通升级：开发者将飞行器所有模块升级至指定固件版本。 |
| firmware_upgrade_status | 固件升级状态 | enum_int | r | 1 | {"0":"未升级","1":"升级中"} | |
| horizontal_speed | 水平速度 | float | r | 0 | {"unit":"米每秒 / m/s"} | |
| vertical_speed | 垂直速度 | float | r | 0 | {"unit":"米每秒 / m/s"} | |
| longitude | 当前位置经度 | float | r | 0 | ||
| latitude | 当前位置纬度 | float | r | 0 | ||
| height | 绝对高度 | float | r | 0 | 相对地球椭球面高度, 计算：相对起飞点的高度 + 起飞点的椭球高 | |
| elevation | 相对起飞点高度 | float | r | 0 | ||
| attitude_pitch | 俯仰轴角度 | float | r | 0 | ||
| attitude_roll | 横滚轴角度 | float | r | 0 | ||
| attitude_head | 偏航轴角度 | int | r | 0 | 偏航轴角度与真北角（经线）的角度，0到6点钟方向为正值，6到12点钟方向为负值 | |
| home_longitude | Home 点经度 | float | r | 1 | ||
| home_latitude | Home 点纬度 | float | r | 1 | ||
| home_distance | 距离 Home 点的距离 | float | r | 0 | ||
| wind_speed | 风速 | float | r | 0 | 风速估计，该风速是通过飞行器姿态推测出的，有一定的误差，仅供参考，不能作为气象数据使用 | |
| wind_direction | 当前风向 | enum_int | r | 0 | {"1":"正北","2":"东北","3":"东","4":"东南","5":"南","6":"西南","7":"西","8":"西北"} | |
| control_source | 当前控制源 | text | r | 1 | 可以为设备，也可以为某个浏览器。设备使用 A/B 表示 A 控，B 控，浏览器以自生成的 uuid 作为标识符 | |
| low_battery_warning_threshold | 低电量告警 | int | r | 1 | 用户设置的电池低电量告警百分比 | |
| serious_low_battery_warning_threshold | 严重低电量告警 | int | r | 1 | 用户设置的电池严重低电量告警百分比 | |
| total_flight_time | 飞行器累计飞行航时 | int | r | 0 | {"unit":"秒 / s"} | |
| total_flight_distance | 飞行器累计飞行总里程 | float | r | 0 | {"unit":"米 / m"} | |
| battery | 飞行器电池信息 | struct | r | 0 | ||
| »capacity_percent | 电池的总剩余电量 | int | {"max":100,"min":0} | |||
| »remain_flight_time | 剩余飞行时间 | int | {"unit":"秒 / s"} | |||
| »return_home_power | 返航所需电量百分比 | int | {"max":100,"min":0} | |||
| »landing_power | 强制降落电量百分比 | int | {"max":100,"min":0} | |||
| »batteries | 电池详细信息 | array | {} | |||
| »»[array_item] | Elements in array | struct | {} | {"size": ""} | ||
| »»»capacity_percent | 电池剩余电量 | int | {"max":100,"min":0} | |||
| »»»index | 电池序号 | int | {"min":"0"} | |||
| »»»sn | 电池序列号（SN） | text | ||||
| »»»type | 电池类型 | enum_int | {} | |||
| »»»sub_type | 电池子类型 | enum_int | {} | |||
| »»»firmware_version | 固件版本 | text | ||||
| »»»loop_times | 电池循环次数 | int | ||||
| »»»voltage | 电压 | int | {"unit":"毫伏 / mV"} | |||
| »»»temperature | 温度 | float | {"unit":"摄氏度 / °C"} | 保留小数点后一位 | ||
| »»»high_voltage_storage_days | 高电压存储天数 | int | {"unit":"日 / day"} | |||
| storage | 存储容量 | struct | r | 0 | kb | |
| »total | 总容量 | int | {"unit":"千字节 / KB"} | |||
| »used | 已使用容量 | int | {"unit":"千字节 / KB"} | |||
| position_state | 搜星状态 | struct | r | 0 | ||
| »is_fixed | 是否收敛 | enum_int | {"0":"未开始","1":"收敛中","2":"收敛成功","3":"收敛失败"} | |||
| »quality | 搜星档位 | enum_int | {"1":"1档","2":"2档","3":"3档","4":"4档","5":"5档"} | |||
| »gps_number | GPS 搜星数量 | int | ||||
| »rtk_number | RTK 搜星数量 | int | ||||
| track_id | 航迹 ID | text | r | 0 | {"length":"64"} | |
| {type-subtype-gimbalindex} | {{type-subtype-gimbalindex}_XXGoBhzNpQ} | struct | r | 0 | {{type-subtype-gimbalindex}_jwYOqxlOgI} | |
| »gimbal_pitch | 云台俯仰轴角度 | double | r | {"max":"180","min":"-180","step":0.1,"unit":"度 / °"} | ||
| »gimbal_roll | 云台横滚轴角度 | double | r | {"max":"180","min":"-180","step":0.1,"unit":"度 / °"} | ||
| »gimbal_yaw | 云台偏航轴角度 | double | r | {"max":"180","min":"-180","step":0.1,"unit":"度 / °"} | ||
| »measure_target_longitude | 激光测距目标经度 | double | r | {"max":"180","min":"-180","unit":"度 / °"} | ||
| »measure_target_latitude | 激光测距目标纬度 | double | r | {"max":"90","min":"-90","unit":"度 / °"} | ||
| »measure_target_altitude | 激光测距目标海拔 | double | r | {"unit":"米 / m"} | ||
| »measure_target_distance | 激光测距距离 | double | r | {"unit":"米 / m"} | ||
| »measure_target_error_state | 激光测距状态 | enum_int | r | {"0":"NORMAL","1":"TOO_CLOSE","2":"TOO_FAR","3":"NO_SIGNAL"} | ||
| »payload_index | 负载索引，格式为 {type-subtype-gimbalindex} | text | r | |||
| »smart_track_point | Smart Track 点信息 | array | r | {} | ||
| »»[array_item] | Elements in array | struct | {} | {"size": ""} | ||
| »»»track_target_mode | Track 模式 | enum_int | {"1":"正常跟踪","2":"正常跟踪，可信度低","3":"目标是 GPS 点，或目标丢失但有预测"} | |||
| »»»track_latitude | 目标纬度 | double | {"max":"90","min":"-90","unit":"度 / °"} | |||
| »»»track_longitude | 目标经度 | double | {"max":"180","min":"-180","unit":"度 / °"} | |||
| »»»track_altitude | 跟踪目标海拔高度 | double | {"unit":"米 / m"} | |||
| »zoom_factor | 变焦倍数 | double | r | |||
| total_flight_sorties | 飞行器累计飞行总架次 | int | r | 0 | ||
| maintain_status | 保养信息 | struct | r | 0 | ||
| »maintain_status_array | 保养信息数组 | array | {} | |||
| »»[array_item] | Elements in array | struct | {} | {"size": ""} | ||
| »»»state | 保养状态 | enum_int | {"0":"无保养","1":"有保养"} | |||
| »»»last_maintain_type | 上一次保养类型 | enum_int | {"1":"飞行器基础保养","2":"飞行器常规保养","3":"飞行器深度保养"} | |||
| »»»last_maintain_time | 上一次保养时间 | date | {"unit":"秒 / s"} | |||
| »»»last_maintain_flight_time | 上一次保养时飞行航时 | int | {"unit":"小时 / h"} | |||
| »»»last_maintain_flight_sorties | 上一次保养时飞行架次 | int | {"max":"2147483647","min":"0","step":"1"} | |||
| activation_time | 飞行器激活时间(unix 时间戳) | int | r | 0 | {"unit":"秒 / s"} | |
| night_lights_state | 飞行器夜航灯状态 | enum_int | rw | 0 | {"0":"关闭","1":"打开"} | |
| height_limit | 飞行器限高 | int | rw | 0 | {"max":"1500","min":"20","step":"1","unit":"米 / m"} | |
| is_near_height_limit | 是否接近设定的限制高度 | enum_int | r | 0 | {"0":"未达到设定的限制高度","1":"接近设定的限制高度"} | |
| is_near_area_limit | 是否接近限飞区 | enum_int | r | 0 | {"0":"未达到限飞区","1":"接近限飞区"} | |
| obstacle_avoidance | 飞行器避障状态 | struct | rw | 0 | ||
| »horizon | 水平避障状态 | enum_int | {"0":"关闭","1":"开启"} | |||
| »upside | 上视避障状态 | enum_int | {"0":"关闭","1":"开启"} | |||
| »downside | 下视避障状态 | enum_int | {"0":"关闭","1":"开启"} | |||
| rth_mode | 返航高度模式设置值 | enum_int | r | 1 | {"0":"智能高度","1":"设定高度"} | 智能返航模式下，飞行器将自动规划最佳返航高度。大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光），飞行器将使用您设定的返航高度进行直线返航 |
| current_rth_mode | 返航高度模式当前值 | enum_int | r | 1 | {"0":"智能高度","1":"设定高度"} | 大疆机场当前只会使用'设定高度'模式 |
| psdk_ui_resource | psdk ui 资源包 | array | r | 1 | {} | |
| »[array_item] | Elements in array | struct | r | 1 | {} | {"size": ""} |
| »»psdk_index | psdk 负载设备索引 | int | {"min":0} | |||
| »»psdk_ready | psdk 就绪状态 | enum_int | {"0":"未就绪","1":"已就绪"} | |||
| »»object_key | oss 对象 | text | ||||
| psdk_widget_values | psdk 负载设备属性值 | array | r | 1 | {} | |
| »[array_item] | Elements in array | struct | r | 1 | {} | {"size": ""} |
| »»psdk_index | psdk 负载设备索引 | int | {"min":0} | |||
| »»psdk_name | 设备名称 | text | ||||
| »»psdk_sn | 设备序号 | text | ||||
| »»psdk_version | 设备固件版本 | text | ||||
| »»psdk_lib_version | psdk lib 版本 | text | ||||
| »»speaker | 喊话器状态 | struct | [{"identifier":"work_mode","name":"喊话器工作模式","pushMode":1,"accessMode":"r","dataType":{"type":"enum_int","specs":{"0":"TTS 负载模式","1":"录音喊话"}}},{"identifier":"play_mode","name":"喊话器播放模式","pushMode":1,"accessMode":"r","dataType":{"type":"enum_int","specs":{"0":"单次播放","1":"循环播放(单曲)"}}},{"identifier":"play_volume","name":"喊话器音量","pushMode":1,"accessMode":"r","dataType":{"type":"int","specs":{"min":0,"max":100,"step":1}}},{"identifier":"system_state","name":"喊话器状态","pushMode":1,"accessMode":"r","dataType":{"type":"enum_int","specs":{"0":"空闲中","1":"传输中(机场到飞行器)","2":"播放中","3":"异常中","4":"TTS 文本转换中","99":"下载中(机场从云端下载)"}}},{"identifier":"play_file_name","name":"喊话器最近一次播放的文件名称","pushMode":1,"accessMode":"r","dataType":{"type":"text","specs":{"length":128,"unit":"字节 / B"}}},{"identifier":"play_file_md5","name":"喊话器最近一次播放的文件md5校验和","pushMode":1,"accessMode":"r","dataType":{"type":"text"}}] |