指令飞行

Event

flyto 执行结果事件通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	constraint	Description
fly_to_id	飞向目标点 ID	text
status	状态	enum_string	{"wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
result	返回码	int		非 0 代表错误
way_point_index	当前执行到第几个航点	int
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}
»latitude	轨迹点纬度	double	{"max":90,"min":-90}	轨迹点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude	轨迹点经度	double	{"max":180,"min":-180}	轨迹点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height	轨迹点高度	float	{"step":0.1,"unit_name":"米 / m"}	轨迹点高度，椭球高

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_progress",
		"way_point_index": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "fly_to_point_progress"
}

一键起飞结果事件通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	constraint	Description
status	任务状态	enum_string	{"task_finish":"一键起飞任务完成","task_ready":"准备起飞","wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
result	返回码	int		非 0 代表错误
flight_id	一键起飞任务 UUID	text
track_id	航迹 ID	text
way_point_index	当前执行到第几个航点	int
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}
»latitude	轨迹点纬度	double	{"max":90,"min":-90}	轨迹点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude	轨迹点经度	double	{"max":180,"min":-180}	轨迹点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height	轨迹点高度	float	{"step":0.1,"unit_name":"米 / m"}	轨迹点高度，椭球高

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_ok",
		"track_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"way_point_index": 1
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "takeoff_to_point_progress"
}

DRC 链路状态通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: drc_status_notify

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误
drc_state	DRC 状态	enum_int	{"0":"未连接","1":"连接中","2":"已连接"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"drc_state": 2,
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_status_notify"
}

DRC-飞行控制无效原因通知

DRC-飞行控制是一个无人机综合控制功能，若不可用，则无法使用飞行控制能力

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: joystick_invalid_notify

Data:

Column	Name	Type	constraint	Description
reason	任务状态	int	{"0":"遥控器失联","1":"低电量返航","2":"低电量降落","3":"靠近限飞区","4":"遥控器夺权（例如：触发了返航，B控夺权）"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"reason": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "joystick_invalid_notify"
}

上报拍照进度

当拍照行为需持续进行时会通过该事件上报进度。目前仅支持：全景拍照模式

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: camera_photo_take_progress

Data:

Column	Name	Type	constraint	Description
output	输出	struct
»status	拍照状态	enum_string	{"fail":"失败","in_progress":"执行中","ok":"完成"}
»progress	进度	struct
»»current_step	执行步骤	enum_int	{"3000":"全景图拍摄未开始或者已结束","3002":"全景图正在拍摄","3005":"全景图合成中"}
»»percent	进度值	int	{"max":"100","min":"0","step":"1"}
»ext	扩展内容	struct
»»camera_mode	当前相机模式	enum_int	{"3":"全景拍照"}
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"output": {
			"ext": {
				"camera_mode": 3
			},
			"progress": {
				"current_step": 0,
				"percent": 100
			},
			"status": "ok"
		},
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_take_progress"
}

Service

飞行控制权抢夺

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flight_authority_grab

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flight_authority_grab

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

负载控制权抢夺

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
payload_index	负载枚举值	text		镜头负载与挂载位置枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "payload_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "payload_authority_grab"
}

进入指令飞行控制模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
mqtt_broker	Broker 连接信息	struct		获取 MQTT 中继服务的地址与认证信息
»address	服务器连接地址	text		服务器连接地址，例如：192.0.2.1:8883, mqtt.dji.com:8883
»client_id	客户端 ID	text		可自定义的 MQTT 客户端 ID。建议使用设备的 SN 码，也可以与具有语义的前缀组合，例如，drc-4J4R101
»username	用户名	text		建立连接时使用的用户名
»password	密码	text		建立连接时认证所需要的密码
»expire_time	认证信息过期时间	int	{"unit_name":"秒 / s"}	在有效期内认证信息可以重复使用，另外认证信息过期后，并不会影响已建立连接的设备
»enable_tls	是否启用 TLS	bool		启用 TLS 即对 MQTT 链路开启加密
osd_frequency	OSD 频率	int	{"max":30,"min":1,"unit_name":"赫兹 / Hz"}	设置 OSD 上报频率
hsi_frequency	HSI 频率	int	{"max":30,"min":1,"unit_name":"赫兹 / Hz"}	设置 HSI 上报频率

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"hsi_frequency": 1,
		"mqtt_broker": {
			"address": "mqtt.dji.com:8883",
			"client_id": "sn_a",
			"enable_tls": true,
			"expire_time": 1672744922,
			"password": "jwt_token",
			"username": "sn_a_username"
		},
		"osd_frequency": 10
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

退出指令飞行控制模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_exit

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_exit

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

一键起飞

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
target_latitude	目标点纬度	double	{"max":90,"min":-90}	目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
target_longitude	目标点经度	double	{"max":180,"min":-180}	目标点经度，角度值，东经是正，西经是负，精度到小数点后6位
target_height	目标点高度	float	{"max":1500,"min":2,"step":0.1,"unit_name":"米 / m"}	目标点高度（椭球高），使用 WGS84 模型，飞行器到点后默认行为：悬停
security_takeoff_height	安全起飞高度	float	{"max":1500,"min":20,"step":0.1,"unit_name":"米 / m"}	相对(机场)起飞点的高度（ALT），飞行器先升到特定的高度，然后再飞向目标点。
rth_mode	【必填】返航模式设置值	enum_int	{"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
rth_altitude	返航高度	int	{"max":1500,"min":2,"step":1,"unit_name":"米 / m"}	相对(机场)起飞点的高度，相对高 ALT
rc_lost_action	遥控器失控动作	enum_int	{"0":"悬停","1":"着陆(降落)","2":"返航"}	遥控器失控动作
commander_mode_lost_action	【必填】指点飞行失控动作	enum_int	{"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"}
commander_flight_mode	【必填】指点飞行模式设置值	enum_int	{"0":"智能高度飞行","1":"设定高度飞行"}
commander_flight_height	【必填】指点飞行高度	float	{"max":3000,"min":2,"step":0.1,"unit_name":"米 / m"}	相对(机场)起飞点的高度，相对高 ALT
flight_id	一键起飞任务 UUID	text		任务 UUID，全局唯一，用于染色，云端区分该值是普通计划任务还是一键起飞任务
max_speed	一键起飞的飞行过程中能达到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
simulate_mission	是否在模拟器中执行任务	struct		可选字段，用于在室内进行模拟任务调试。
»is_enable	是否开启模拟器任务	enum_int	{"0":"不开启","1":"开启"}	当次任务打开或关闭模拟器
»latitude	纬度	double	{"max":"90.0","min":"-90.0"}
»longitude	经度	double	{"max":"180.0","min":"-180.0"}
flight_safety_advance_check	飞行安全预检查	bool	{"0":"关闭","1":"开启"}	设置一键起飞和航线任务中的飞行安全是否预先检查。此字段为可选，默认为0，值为0表示关闭，1表示开启。飞行安全预先检查表示: 飞行器执行任务前，检查自身作业区文件是否与云端一致，如果不一致则拉取文件更新，如果一致则不处理

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "flight_id": "ABDEAC21DCADDA",
        "max_speed": 12,
        "rc_lost_action": 0,
        "rth_altitude": 100,
        "security_takeoff_height": 100,
        "target_height": 100,
        "target_latitude": 12.23,
        "target_longitude": 12.32,
        "commander_mode_lost_action": 1,
        "commander_flight_height": 80,
        "flight_safety_advance_check": 1
    },
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

flyto 飞向目标点

特别说明：飞行器有最低飞行高度(20m)安全保障机制，如果飞行器相对起飞点高度低于20m，会先上升到20m

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
fly_to_id	飞向目标点 ID	text
max_speed	flyto 的飞行过程中能达到的最大速度	int	{"max":15,"min":0,"unit_name":"米每秒 / m/s"}
points	flyto 目标点列表	array	{"size": -, "item_type": struct}	仅支持 1 个目标点
»latitude	目标点纬度	double	{"max":90,"min":-90}	目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude	目标点经度	double	{"max":180,"min":-180}	目标点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}	目标点高度（椭球高），使用 WGS84 模型

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"max_speed": 12,
		"points": [
			{
				"height": 100,
				"latitude": 12.23,
				"longitude": 12.23
			}
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

结束 flyto 飞向目标点任务

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

更新 flyto 目标点

「一键起飞」或「flyto 飞向目标点」的过程中，可以通过该命令快速更新目标点

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
max_speed	指令飞行过程中能达到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
points	更新的目标点列表	array	{"size": -, "item_type": struct}	仅支持 1 个目标点
»latitude	目标点纬度	double	{"max":90,"min":-90}	目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude	目标点经度	double	{"max":180,"min":-180}	目标点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}	目标点高度（椭球高），使用 WGS84 模型

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"max_speed": 12,
		"points": [
			{
				"height": 100,
				"latitude": 12.23,
				"longitude": 12.23
			}
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_update"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_update"
}

负载控制-框选变焦

框选变焦功能为在相机镜头的视野范围内，框选镜头中的目标区域，将会自动把画面切过去自动变焦+转云台

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint
payload_index	相机枚举	text
camera_type	相机类型	enum_string	{"ir":"红外","wide":"广角","zoom":"变焦"}
locked	机头和云台的相对关系是否锁定	bool	{"0":"仅云台转，机身不转","1":"锁定机头，云台和机身一起转"}
x	目标框左上角点坐标x	float	{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
y	目标框左上角点坐标y	float	{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
width	目标框宽度	float	{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
height	目标框高度	float	{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"height": 0.2,
		"locked": true,
		"payload_index": "39-0-7",
		"width": 0.2,
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_frame_zoom"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint	Description
result	返回码	int

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_frame_zoom"
}

负载控制—切换相机模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_mode	相机模式	enum_int	{"0":"拍照","1":"录像","2":"智能低光","3":"全景拍照"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_mode": 0,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_mode_switch"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_mode_switch"
}

负载控制—开始拍照

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_take"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误
output	输出	struct
»status	任务状态	enum_string	{"in_progress":"执行中"}	当全景拍照或其他持续性拍照行为时会上报状态信息，表达后续会有持续的进度事件上报，详细内容请查看 camera_photo_take_progress 事件

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_take"
}

负载控制—停止拍照

停止拍照指令，目前仅支持全景拍照模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_stop"
}

负载控制—开始录像

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_start"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_start"
}

负载控制—停止录像

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_stop"
}

负载控制—画面拖动控制

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
locked	机头和云台的相对关系是否锁定	bool	{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
pitch_speed	云台 pitch 速度	double	{"unit_name":"度每秒 / degree/s"}	云台 pitch 速度
yaw_speed	云台 yaw 速度	double	{"unit_name":"度每秒 / degree/s"}	云台 yaw 速度，仅不锁机头时才生效

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"locked": true,
		"payload_index": "39-0-7",
		"pitch_speed": 0.1,
		"yaw_speed": 0.1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_drag"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_drag"
}

负载控制—双击成为 AIM

双击 aim 功能为在相机镜头的视野范围内，双击镜头中的目标点，该目标点将成为镜头视野的中心

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"ir":"红外","wide":"广角","zoom":"变焦"}
locked	机头和云台的相对关系是否锁定	bool	{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
x	目标坐标 x	double	{"max":1,"min":0}	目标坐标 x，以镜头的左上角为坐标中心点，水平方向为 x
y	目标坐标 y	double	{"max":1,"min":0}	目标坐标 y，以镜头的左上角为坐标中心点，竖直方向为 y

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"locked": true,
		"payload_index": "39-0-7",
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_aim"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_aim"
}

负载控制—变焦

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"ir":"红外","wide":"广角","zoom":"变焦"}	相机类型枚举
zoom_factor	变焦倍数	double	{"max":200,"min":2}	变焦倍数，可见光是2-200，红外是2-20

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"payload_index": "39-0-7",
		"zoom_factor": 5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_set"
}

负载控制—重置云台

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
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open in new window
reset_mode	重置模式类型	enum_int	{"0":"回中","1":"向下","2":"偏航回中","3":"俯仰向下"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"reset_mode": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_reset"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_reset"
}

负载控制—Look At

lookat 功能指飞行器将从当前朝向转向实际经纬高度指定的点，在 M30/M30T 机型上建议使用锁定机头的方式，仅云台转动场景下在抵达云台限位角后 lookat 功能将出现异常

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
locked	机头和云台的相对关系是否锁定	bool	{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
latitude	目标点纬度	double	{"max":90,"min":-90}	角度值。南纬是负，北纬是正，精度到小数点后6位。
longitude	目标点经度	double	{"max":180,"min":-180}	角度值。东经是正，西经是负，精度到小数点后6位。
height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}	目标点高度（椭球高）

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"height": 100,
		"latitude": 12.23,
		"locked": true,
		"longitude": 12.23,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_look_at"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_look_at"
}

负载控制—分屏

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
enable	是否使能分屏	bool		开启还是关闭分屏

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"enable": true,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_split"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_split"
}

负载控制—照片存储设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
photo_storage_settings	照片存储设置集合	array	{"size": -, "item_type": enum_string}	拍照存储类型{current, wide, zoom, ir}，可多选

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"photo_storage_settings": [
			"current",
			"wide",
			"zoom",
			"ir"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "photo_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "photo_storage_set"
}

负载控制—视频存储设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
video_storage_settings	视频存储设置集合	array	{"size": -, "item_type": enum_string}	视频存储类型{current, wide, zoom, ir}，可多选

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"video_storage_settings": [
			"current",
			"wide",
			"zoom",
			"ir"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_storage_set"
}

负载控制—相机曝光模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举
exposure_mode	曝光模式	enum_int	{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"exposure_mode": 1,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_mode_set"
}

负载控制—相机曝光值调节

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}
exposure_value	曝光值	enum_string	{"1":"-5.0EV","2":"-4.7EV","3":"-4.3EV","4":"-4.0EV","5":"-3.7EV","6":"-3.3EV","7":"-3.0EV","8":"-2.7EV","9":"-2.3EV","10":"-2.0EV","11":"-1.7EV","12":"-1.3EV","13":"-1.0EV","14":"-0.7EV","15":"-0.3EV","16":"0EV","17":"0.3EV","18":"0.7EV","19":"1.0EV","20":"1.3EV","21":"1.7EV","22":"2.0EV","23":"2.3EV","24":"2.7EV","25":"3.0EV","26":"3.3EV","27":"3.7EV","28":"4.0EV","29":"4.3EV","30":"4.7EV","31":"5.0EV","255":"FIXED"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"exposure_value": 5,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_set"
}

负载控制—相机对焦模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_mode	对焦模式	enum_int	{"0":"MF","1":"AFS","2":"AFC"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"focus_mode": 1,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_mode_set"
}

负载控制—相机对焦值设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_value	对焦值	int		对焦值，范围参见飞行器物模型属性 zoom_max_focus_value 和 zoom_min_focus_value

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"focus_value": 5,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_value_set"
}

负载控制—点对焦

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
x	对焦点坐标 x	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，水平方向为 x
y	对焦点坐标 y	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，竖直方向为 y

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"payload_index": "39-0-7",
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_point_focus_action"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_point_focus_action"
}

负载控制—红外测温模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
mode	测温模式	enum_int	{"0":"关闭测温","1":"点测温","2":"区域测温"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"mode": 1,
		"payload_index": "39-0-7"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_mode_set"
}

负载控制—红外测温点设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
x	测温点坐标 x	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，水平方向为 x
y	测温点坐标 y	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，竖直方向为 y

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_point_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_point_set"
}

负载控制—红外测温区域设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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open in new window
x	测温区域左上角点坐标 x	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，水平方向为 x
y	测温区域左上角点坐标 y	double	{"max":1,"min":0}	以镜头的左上角为坐标中心点，竖直方向为 y
width	测温区域宽度	double	{"max":1,"min":0}
height	测温区域高度	double	{"max":1,"min":0}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"height": 0.5,
		"payload_index": "39-0-7",
		"width": 0.5,
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_area_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_area_set"
}

DRC

DRC-杆量控制

建立DRC链路之后，可通过“DRC-杆量控制”指令控制飞行器和云台姿态。发送频率需要保持5-10hz，才能比较精准地控制飞行器的运动。本协议无回包机制。

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: stick_control

Data:

Column	Name	Type	constraint	Description
roll	横滚通道	int	{"max":"1684","min":"364","unit_name":""}	对应遥控器A通道，控制飞行器横滚（表现为左右平移）。杆量范围[1024±660]，1024为中值（无动作），数值增大表示向右倾斜，减小表示向左倾斜。
pitch	俯仰通道	int	{"max":"1684","min":"364","unit_name":""}	对应遥控器E通道，控制飞行器俯仰（表现为前后平移）。杆量范围[1024±660]**，1024为中值（无动作），数值增大表示向前俯冲，减小表示向后抬头。
throttle	升降通道	int	{"max":"1684","min":"364","unit_name":""}	对应遥控器T通道，控制飞行器升降。杆量范围[1024±660]，1024为悬停状态，数值增大表示升高，减小表示降低。
yaw	偏航通道	int	{"max":"1684","min":"364","unit_name":""}	对应遥控器R通道，控制飞行器偏航（表现为左右旋转）。杆量范围[1024±660]，1024为中值（无动作），数值增大表示顺时针旋转，减小表示逆时针旋转。
gimbal_pitch	云台俯仰	int	{"max":"1684","min":"364","unit_name":""}	控制云台俯仰。杆量范围[1024±660]，1024为中值（无动作），数值增大表示云台上仰，减小表示下俯。

Example:

{
    "seq": 1,
    "method": "stick_control",
    "data": {
        "roll": 1024,
        "pitch": 1024,
        "throttle": 1024,
        "yaw": 1024,
        "gimbal_pitch": 1024
    }
}

DRC-飞行控制（已废弃）

注意：本协议已不再维护，使用“DRC-杆量控制”可获得更好的响应性能。

进入指令飞行模式后允许通过该指令控制飞行器航行方向与速度，发送的频率需要保持在5-10hz以内让设备能够比较精准的控制速度变化与方向。

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_control

Data:

Column	Name	Type	constraint	Description
seq	命令序号	int		递增的序号，保证指令顺序执行。若 x、y、h、w 参数发生变化，seq 需要从 0 开始增长。
x	前进后退方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"}	前进后退的最大速度，负值表示向后移动
y	左右方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"}	左右移动的最大速度，负值表示向左移动
h	上下方向的速度	double	{"max":5,"min":-4,"unit_name":"米每秒 / m/s"}	向上向下移动的最大速度，负值表示向下移动
w	机身角速度	double	{"max":90,"min":-90,"unit_name":"度每秒 / degree/s"}	顺时针与逆时针的最大角速度，负值表示逆时针转动

Example:

{
	"data": {
		"h": 2.76,
		"seq": 1,
		"w": 2.86,
		"x": 2.34,
		"y": -2.45
	},
	"method": "drone_control"
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: drone_control

Data:

Column	Name	Type	Description
result	返回码	int	如果发送成功，则不会有返回码。非 0 代表错误，异常case：没有飞行控制权，没有虚拟摇杆权限，数据包序号不对
output	输出	struct
»seq	命令序号	int	递增的序号，保证指令顺序执行

Example:

{
	"data": {
		"output": {
			"seq": -1
		},
		"result": 319033
	},
	"method": "drone_control"
}

DRC-飞行器急停

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_emergency_stop

Data: null

Example:

{
	"data": {},
	"method": "drone_emergency_stop"
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: drone_emergency_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drone_emergency_stop"
}

DRC-心跳

与 data 同级的 seq 是递增的序号，保证指令顺序执行

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	【废弃】命令序号	int		递增的序号，保证指令顺序执行
timestamp	心跳发送时间戳	int	{"unit_name":"毫秒 / ms"}	业务方可以通过心跳协议判断 DRC 链路是否活跃，若一定期间未收到心跳回应可以判定 DRC 链路异常，对于 DRC 异常情况可以发起重试。若超过 1 分钟未收到业务方发送心跳协议，设备将会认为 DRC 链路处于空闲退出 DRC 链路。

Example:

{
	"data": {
		"timestamp": 1670415891013
	},
	"method": "heart_beat",
	"seq": 1
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	【废弃】命令序号	int		递增的序号，保证指令顺序执行
timestamp	心跳发送时间戳	int	{"unit_name":"毫秒 / ms"}	业务方可以通过心跳协议判断 DRC 链路是否活跃，若一定期间未收到心跳回应可以判定 DRC 链路异常，对于 DRC 异常情况可以发起重试。若超过 1 分钟未收到业务方发送心跳协议，设备将会认为 DRC 链路处于空闲退出 DRC 链路。

Example:

{
	"data": {
		"timestamp": 1670415891013
	},
	"method": "heart_beat",
	"seq": 1
}

DRC-避障信息上报

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
up_distance	上方的障碍物距离	int	{"unit_name":"毫米 / mm"}
down_distance	下方的障碍物距离	int	{"unit_name":"毫米 / mm"}
up_enable	上视避障开关状态	bool
up_work	上视避障工作状态	bool
down_enable	下视避障开关状态	bool
down_work	下视避障工作状态	bool
left_enable	左视避障开关状态	bool
left_work	左视避障工作状态	bool
right_enable	右视避障开关状态	bool
right_work	右视避障工作状态	bool
front_enable	前视避障开关状态	bool
front_work	前视避障工作状态	bool
back_enable	后视避障开关状态	bool
back_work	后视避障工作状态	bool
vertical_enable	垂直避障开关状态	bool
vertical_work	垂直避障工作状态	bool
horizontal_enable	水平避障开关状态	bool
horizontal_work	水平避障工作状态	bool
around_distances	周边的障碍物距离	array	{"size": 360, "item_type": int}	水平方向观察点，分布在[0,360)的角度区间，0对应机头方向正前方，顺时针分布，例如0度为机头正前方，90度为飞行器正右方。每个数值表示该角度上障碍物与飞行器距离，60000 表示该角度没有障碍物。若上报空数组，意味任意角度都无障碍物。若上报 4 个数据的数组，意味该数据为 TOF 避障数据，在红外避障失效时上报，譬如夜晚场景。

Example:

{
	"method": "hsi_info_push",
	"timestamp": 1670415891013,
	"data": {
		"up_distance": 10,
		"down_distance": 10,
		"around_distance": [
			10,
			8,
			9,
			16,
			2
		],
		"up_enable": true,
		"up_work": true,
		"down_enable": true,
		"down_work": true,
		"left_enable": true,
		"left_work": true,
		"right_enable": true,
		"right_work": true,
		"front_enable": true,
		"front_work": true,
		"back_enable": true,
		"back_work": true,
		"vertical_enable": true,
		"vertical_work": true,
		"horizontal_enable": true,
		"horizontal_work": true
	}
}

DRC-图传链路延时信息上报

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: delay_info_push

Data:

Column	Name	Type	constraint	Description
sdr_cmd_delay	图传协议命令链路延时	int	{"unit_name":"毫秒 / ms"}	图传协议命令链路延时
liveview_delay_list	图传视频码流延时	array	{"size": -, "item_type": struct}	图传视频码流延时，多路码流
»video_id	码流编号	text		码流编号
»liveview_delay_time	码流延时	int	{"unit_name":"毫秒 / ms"}	码流延时

Example:

{
	"data": {
		"liveview_delay_list": [
			{
				"liveview_delay_time": 60,
				"video_id": "1581BN210004555439234/52-0-0/normal-0"
			},
			{
				"liveview_delay_time": 80,
				"video_id": "1581BN210004555439234/53-0-0/normal-0"
			}
		],
		"sdr_cmd_delay": 10
	},
	"timestamp": 1670415891013
}

DRC-高频 osd 信息上报

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: osd_info_push

Data:

Column	Name	Type	constraint	Description
attitude_head	飞行器姿态 head 角	double	{"unit_name":"度 / °"}	飞行器姿态 head 角
latitude	飞行器纬度	double	{"unit_name":"度 / °"}
longitude	飞行器经度	double	{"unit_name":"度 / °"}
height	飞行器高度	double	{"unit_name":"度 / °"}	飞行器海拔高度
speed_x	当前飞行器 x 坐标方向的速度	double	{"unit_name":"米每秒 / m/s"}	当前飞行器 x 坐标方向的速度
speed_y	当前飞行器 y 坐标方向的速度	double	{"unit_name":"米每秒 / m/s"}	当前飞行器 y 坐标方向的速度
speed_z	当前飞行器 z 坐标方向的速度	double	{"unit_name":"米每秒 / m/s"}
gimbal_pitch	云台 pitch 角	double	{"unit_name":"度 / °"}
gimbal_roll	云台 roll 角	double	{"unit_name":"度 / °"}
gimbal_yaw	云台 yaw 角	double	{"unit_name":"度 / °"}

Example:

{
	"data": {
		"attitude_head": 60,
		"gimbal_pitch": 60,
		"gimbal_roll": 60,
		"gimbal_yaw": 60,
		"height": 10,
		"latitude": 10,
		"longitude": 10,
		"speed_x": 10,
		"speed_y": 10,
		"speed_z": 10
	},
	"timestamp": 1670415891013
}

指令飞行

# Event

# flyto 执行结果事件通知

# 一键起飞结果事件通知

# DRC 链路状态通知

# DRC-飞行控制无效原因通知

# 上报拍照进度

# Service

# 飞行控制权抢夺

# 负载控制权抢夺

# 进入指令飞行控制模式

# 退出指令飞行控制模式

# 一键起飞

# flyto 飞向目标点

# 结束 flyto 飞向目标点任务

# 更新 flyto 目标点

# 负载控制-框选变焦

# 负载控制—切换相机模式

# 负载控制—开始拍照

# 负载控制—停止拍照

# 负载控制—开始录像

# 负载控制—停止录像

# 负载控制—画面拖动控制

# 负载控制—双击成为 AIM

# 负载控制—变焦

# 负载控制—重置云台

# 负载控制—Look At

# 负载控制—分屏

# 负载控制—照片存储设置

# 负载控制—视频存储设置

# 负载控制—相机曝光模式设置

# 负载控制—相机曝光值调节

# 负载控制—相机对焦模式设置

# 负载控制—相机对焦值设置

# 负载控制—点对焦

# 负载控制—红外测温模式设置

# 负载控制—红外测温点设置

# 负载控制—红外测温区域设置

# DRC

# DRC-杆量控制

# DRC-飞行控制（已废弃）

# DRC-飞行器急停

# DRC-心跳

# DRC-避障信息上报

# DRC-图传链路延时信息上报

# DRC-高频 osd 信息上报

Event

flyto 执行结果事件通知

一键起飞结果事件通知

DRC 链路状态通知

DRC-飞行控制无效原因通知

上报拍照进度

Service

飞行控制权抢夺

负载控制权抢夺

进入指令飞行控制模式

退出指令飞行控制模式

一键起飞

flyto 飞向目标点

结束 flyto 飞向目标点任务

更新 flyto 目标点

负载控制-框选变焦

负载控制—切换相机模式

负载控制—开始拍照

负载控制—停止拍照

负载控制—开始录像

负载控制—停止录像

负载控制—画面拖动控制

负载控制—双击成为 AIM

负载控制—变焦

负载控制—重置云台

负载控制—Look At

负载控制—分屏

负载控制—照片存储设置

负载控制—视频存储设置

负载控制—相机曝光模式设置

负载控制—相机曝光值调节

负载控制—相机对焦模式设置

负载控制—相机对焦值设置

负载控制—点对焦

负载控制—红外测温模式设置

负载控制—红外测温点设置

负载控制—红外测温区域设置

DRC

DRC-杆量控制

DRC-飞行控制（已废弃）

DRC-飞行器急停

DRC-心跳

DRC-避障信息上报

DRC-图传链路延时信息上报

DRC-高频 osd 信息上报