Event

拍照信息上报

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: up

Method: drc_camera_photo_info_push

Data:

Column	Name	Type	constraint	Description
countdown_time	定时拍倒计时	int
result	拍照结果	int		非 0 代表错误
status	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":"","unit_name":null}
ext	扩展内容	struct
»camera_mode	当前相机模式	enum_int	{"3":"全景拍照"}

Example:

{
	"data": {
		"countdown_time": 4,
		"ext": {
			"camera_mode": 2
		},
		"progress": {
			"current_step": 0,
			"percent": 100
		},
		"result": 0,
		"status": "in_progress"
	},
	"method": "drc_camera_photo_info_push",
	"seq": 1
}

相机状态上报

变化时推送相机信息（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: up

Method: drc_camera_state_push

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
camera_state	相机状态信息	struct
»camera_mode	相机状态	enum_int	{"0":"拍照","1":"录像","2":"智能低光","3":"全景拍照","4":"定时拍照"}
»interval_photo_interval	定时拍照间隔	int	{"max":"","min":"","step":"","unit_name":"秒 / s"}
»video_resolution	视频分辨率大小	enum_string	{"0":"19201080 ","1":"38402160"}
»linkage_zoom_state	联动变焦状态	bool	{"0":"关闭","1":"开启"}
»photo_size	照片大小	enum_int	{"0":"默认大小","1":"特小","2":"小","3":"中","4":"大","5":"特大"}
»record_time	视频录制时长	int	{"max":"","min":"","step":"","unit_name":"秒 / s"}
»recording_state	录像状态	enum_int	{"0":"空闲","1":"录像中"}
»photo_state	拍照状态	enum_int	{"0":"空闲","1":"拍照中"}
»remain_photo_num	剩余拍照张数	int
»remain_record_duration	剩余录像时间	int	{"max":"","min":"","step":"","unit_name":"秒 / s"}
media_storage	媒体存储信息	struct
»photo_storage_settings	照片存储设置集合	array	{"size": -, "item_type": text}	拍照存储类型{current, vision, ir}，根据机型可多选
»video_storage_settings	视频存储设置集合	array	{"size": -, "item_type": text}	视频存储类型{current, vision, ir}，根据机型可多选

Example:

{
	"data": {
		"camera_state": {
			"camera_mode": 0,
			"interval_photo_interval": 2.5,
			"linkage_zoom_state": 0,
			"photo_size": 1,
			"photo_state": 0,
			"record_time": 0,
			"recording_state": 0,
			"remain_photo_num": 6727,
			"remain_record_duration": 0,
			"video_resolution": 0
		},
		"media_storage": {
			"photo_storage_settings": [
				"current",
				"ir"
			],
			"video_storage_settings": [
				"current",
				"ir"
			]
		},
		"payload_index": "81-0-0"
	},
	"method": "drc_camera_state_push",
	"seq": 1
}

飞行器状态信息上报

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: up

Method: drc_drone_state_push

Data:

Column	Name	Type	constraint	Description
stealth_state	隐蔽模式状态	bool	{"0":"关闭","1":"开启"}
night_lights_state	夜航灯状态	bool	{"0":"关闭","1":"开启"}
mode_code	飞行器状态	enum_int	{"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"}
landing_type	降落类型	enum_int	{"0":"未降落","1":"机场内降落","2":"备降点降落","3":"用户主动触发降落","4":"飞行器自身触发降落"}
landing_protection_type	降落检测类型	enum_int	{"0":"未开启检测","1":"检测到地面不平或者下方是水面，不适合降落，降落任务退出","2":"没有检测出地面情况，降落任务退出","3":"机场内降落检测"}	开启避障情况下紧急降落，飞行器会开启降落检测

Example:

{
	"data": {
		"landing_protection_type": 0,
		"landing_type": 1,
		"mode_code": 0,
		"night_lights_state": 0,
		"stealth_state": 0
	},
	"method": "drc_drone_state_push",
	"seq": 1
}

摄像头 osd 推送

用于推送摄像头参数信息（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: up

Method: drc_camera_osd_info_push

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
wide_lense	广角镜头信息	struct
»wide_exposure_mode	广角镜头曝光模式	enum_int	{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}	当前配置的广角镜头曝光模式
»wide_iso	广角镜头感光度	enum_int	{"0":"Auto","1":"Auto(High Sense)","2":"50","3":"100","4":"200","5":"400","6":"800","7":"1600","8":"3200","9":"6400","10":"12800","11":"25600","255":"FIXED"}	当前配置的广角镜头感光度
»wide_shutter_speed	广角镜头快门速度	enum_int	{"0":"1/8000 s","1":"1/6400 s","2":"1/6000 s","3":"1/5000 s","4":"1/4000 s","5":"1/3200 s","6":"1/3000 s","7":"1/2500 s","8":"1/2000 s","9":"1/1600 s","10":"1/1500 s","11":"1/1250 s","12":"1/1000 s","13":"1/800 s","14":"1/725 s","15":"1/640 s","16":"1/500 s","17":"1/400 s","18":"1/350 s","19":"1/320 s","20":"1/250 s","21":"1/240 s","22":"1/200 s","23":"1/180 s","24":"1/160 s","25":"1/125 s","26":"1/120 s","27":"1/100 s","28":"1/90 s","29":"1/80 s","30":"1/60 s","31":"1/50 s","32":"1/40 s","33":"1/30 s","34":"1/25 s","35":"1/20 s","36":"1/15 s","37":"1/12.5 s","38":"1/10 s","39":"1/8 s","40":"1/6.25 s","41":"1/5 s","42":"1/4 s","43":"1/3 s","44":"1/2.5 s","45":"1/2 s","46":"1/1.67 s","47":"1/1.25 s","48":"1.0 s","49":"1.3 s","50":"1.6 s","51":"2.0 s","52":"2.5 s","53":"3.0 s","54":"3.2 s","55":"4.0 s","56":"5.0 s","57":"6.0 s","58":"7.0 s","59":"8.0 s","65534":"Auto"}	当前配置的广角镜头快门速度
»wide_exposure_value	广角镜头曝光值	enum_int	{"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"}	当前配置的广角镜头曝光值
»wide_aperture_value	光圈值	enum_int	{"0":"F_AUTO","50":"F0.5","70":"F0.7","80":"F0.8","90":"F0.9","95":"F0.95","100":"F1.0","110":"F1.1","120":"F1.2","140":"F1.4","160":"F1.6","170":"F1.7","180":"F1.8","200":"F2","220":"F2.2","240":"F2.4","250":"F2.5","280":"F2.8","320":"F3.2","330":"F3.3","340":"F3.4","350":"F3.5","400":"F4","440":"F4.4","450":"F4.5","480":"F4.8","500":"F5","560":"F5.6","630":"F6.3","670":"F6.7","680":"F6.8","710":"F7.1","800":"F8","900":"F9","950":"F9.5","960":"F9.6","1000":"F10","1100":"F11","1300":"F13","1400":"F14","1600":"F16","1800":"F18","1900":"F19","2000":"F20","2200":"F22","2500":"F25","2700":"F27","2900":"F29","3200":"F32","3600":"F36","3800":"F38","4000":"F40","4500":"F45","5100":"F51","5400":"F54","5700":"F57","6400":"F64","7200":"F72","7600":"F76","8000":"F80","9000":"F90","10700":"F107","12800":"F128","18000":"F180","25600":"F256"}	根据不同机型，范围不一致
zoom_lense	变焦镜头信息	struct
»zoom_exposure_mode	变焦镜头曝光模式	enum_int	{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}	当前配置的变焦镜头曝光模式
»zoom_iso	变焦镜头感光度	enum_int	{"0":"Auto","1":"Auto(High Sense)","2":"50","3":"100","4":"200","5":"400","6":"800","7":"1600","8":"3200","9":"6400","10":"12800","11":"25600","255":"FIXED"}	当前配置的变焦镜头感光度
»zoom_shutter_speed	变焦镜头快门速度	enum_int	{"0":"1/8000 s","1":"1/6400 s","2":"1/6000 s","3":"1/5000 s","4":"1/4000 s","5":"1/3200 s","6":"1/3000 s","7":"1/2500 s","8":"1/2000 s","9":"1/1600 s","10":"1/1500 s","11":"1/1250 s","12":"1/1000 s","13":"1/800 s","14":"1/725 s","15":"1/640 s","16":"1/500 s","17":"1/400 s","18":"1/350 s","19":"1/320 s","20":"1/250 s","21":"1/240 s","22":"1/200 s","23":"1/180 s","24":"1/160 s","25":"1/125 s","26":"1/120 s","27":"1/100 s","28":"1/90 s","29":"1/80 s","30":"1/60 s","31":"1/50 s","32":"1/40 s","33":"1/30 s","34":"1/25 s","35":"1/20 s","36":"1/15 s","37":"1/12.5 s","38":"1/10 s","39":"1/8 s","40":"1/6.25 s","41":"1/5 s","42":"1/4 s","43":"1/3 s","44":"1/2.5 s","45":"1/2 s","46":"1/1.67 s","47":"1/1.25 s","48":"1.0 s","49":"1.3 s","50":"1.6 s","51":"2.0 s","52":"2.5 s","53":"3.0 s","54":"3.2 s","55":"4.0 s","56":"5.0 s","57":"6.0 s","58":"7.0 s","59":"8.0 s","65534":"Auto"}	当前配置的变焦镜头快门速度
»zoom_exposure_value	变焦镜头曝光值	enum_int	{"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"}	当前配置的变焦镜头曝光值
»zoom_focus_mode	变焦镜头对焦模式	enum_int	{"0":"MF","1":"AFS","2":"AFC"}
»zoom_focus_value	变焦镜头对焦值	int
»zoom_max_focus_value	变焦镜头最大对焦值	int
»zoom_min_focus_value	变焦镜头最小对焦值	int
»zoom_calibrate_farthest_focus_value	变焦镜头标定的最远对焦值	int		最清晰的最远位置对焦值
»zoom_calibrate_nearest_focus_value	变焦镜头标定的最近对焦值	int		最清晰的最近位置对焦值
»zoom_focus_state	变焦镜头对焦状态	int
»zoom_factor	变焦倍数	int
»zoom_aperture_value	变焦光圈值	enum_int	{"440":"F4.4"}	根据不同机型，范围不一致
measure_target	目标测距和测高	struct
»measure_target_longitude	激光测距目标经度	double	{"max":"180","min":"-180","unit":"度 / °"}
»measure_target_latitude	激光测距目标纬度	double	{"max":"90","min":"-90","unit":"度 / °"}
»measure_target_altitude	激光测距目标海拔	double	{"unit":"米 / m"}
»measure_target_distance	激光测距距离	double	{"unit":"米 / m"}
ir_lense	红外信息	struct
»screen_split_enable	分屏是否使能	bool	{"false":"分屏使能关闭","true":"分屏使能开启"}
»ir_zoom_factor	红外变焦倍数	float	{"max":20,"min":2}	红外变焦倍数
»thermal_supported_palette_styles	设备支持的调色盘样式集合	array	{"size": -, "item_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	{"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	{"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	{"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	{"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	{"unit":"摄氏度 / °C"}
»thermal_global_temperature_max	全局画面中测量的最高温度	float	{"unit":"摄氏度 / °C"}
liveview	直播视图区域信息	struct
»liveview_world_region	视场角（FOV）在 liveview 中的区域	struct		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。
»»left	左上角的 x 轴起始点	float		左上角的 x 轴起始点
»»top	左上角的 y 轴起始点	float		左上角的 y 轴起始点
»»right	右下角的 x 轴起始点	float		右下角的 x 轴起始点
»»bottom	右下角的 y 轴起始点	float		右下角的 y 轴起始点

Example:

{
	"data": {
		"ir_lense": {
			"ir_zoom_factor": 2,
			"screen_split_enable": false,
			"thermal_current_palette_style": 11,
			"thermal_gain_mode": 2,
			"thermal_global_temperature_max": 40.0373764038086,
			"thermal_global_temperature_min": 31.65154457092285,
			"thermal_isotherm_lower_limit": -20,
			"thermal_isotherm_state": 0,
			"thermal_isotherm_upper_limit": 150
		},
		"liveview": {
			"liveview_world_region": {
				"bottom": 0.5609484910964966,
				"left": 0.43238765001297,
				"right": 0.5639060735702515,
				"top": 0.433199942111969
			}
		},
		"measure_target": {
			"measure_target_altitude": 34.60000228881836,
			"measure_target_distance": 0,
			"measure_target_error_state": 1,
			"measure_target_latitude": 22.907619920797877,
			"measure_target_longitude": 113.70345426744846
		},
		"payload_index": "81-0-0",
		"wide_lense": {
			"wide_aperture_value": 10,
			"wide_exposure_mode": 1,
			"wide_exposure_value": 16,
			"wide_iso": 8,
			"wide_shutter_speed": 45
		},
		"zoom_lense": {
			"zoom_aperture_value": 10,
			"zoom_calibrate_farthest_focus_value": 34,
			"zoom_calibrate_nearest_focus_value": 64,
			"zoom_exposure_mode": 1,
			"zoom_exposure_value": 16,
			"zoom_factor": 6.999994214380596,
			"zoom_focus_mode": 0,
			"zoom_focus_state": 0,
			"zoom_focus_value": 34,
			"zoom_iso": 8,
			"zoom_max_focus_value": 64,
			"zoom_min_focus_value": 33,
			"zoom_shutter_speed": 45
		}
	},
	"method": "drc_camera_osd_info_push",
	"seq": 1
}

Service

负载控制—切换相机模式

seq 是递增的序号，保证指令顺序执行，与 data 同级

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text	{"length":""}	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	模式	enum_int	{"0":"拍照","1":"录像","2":"智能低光","3":"全景拍照","4":"定时拍"}

Example:

{
    "data": {
        "camera_mode": 2,
        "payload_index": "81-0-0"
    },
    "method": "drc_camera_mode_switch",
    "seq": 1
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_camera_mode_switch

Data:

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

Example:

{
    "data": {
        "result": 0
    },
    "method": "drc_camera_mode_switch",
    "seq": 1
}

强制降落

调用后，无论是否有障碍飞行器都会直接降到地面，用 drone_emergency_stop 命令可取消。降落完成后只能人工拾取飞行器，慎用!（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_force_landing

Data: null

Example:

{
	"data": {},
	"method": "drc_force_landing",
	"seq": 1
}

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

Direction: up

Method: drc_force_landing

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_force_landing",
	"seq": 1
}

急停

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drone_emergency_stop

Data: null

Example:

{
	"data": {},
	"method": "drone_emergency_stop",
	"seq": 1
}

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",
	"seq": 1
}

紧急降落

调用后，飞行器会开始降落，在开启避障时可能会因触发避障而中止。用 drone_emergency_stop 命令可取消。降落完成后只能人工拾取飞行器，慎用！（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_emergency_landing

Data: null

Example:

{
	"data": {},
	"method": "drc_emergency_landing",
	"seq": 1
}

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

Direction: up

Method: drc_emergency_landing

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_emergency_landing",
	"seq": 1
}

负载控制—红外联动变焦

红外联动变焦仅支持 Matrice 3TD 机型（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_linkage_zoom_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
state	联动变焦状态	bool	{"0":"关闭","1":"开启"}

Example:

{
	"data": {
		"payload_index": "81-0-0",
		"state": 0
	},
	"method": "drc_linkage_zoom_set",
	"seq": 1
}

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

Direction: up

Method: drc_linkage_zoom_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_linkage_zoom_set",
	"seq": 1
}

负载控制—视频分辨率设置

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_video_resolution_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
video_resolution	视频分辨率	enum_string	{"0":"19201080","1":"38402160"}	可见光相机分辨率分别为 19201080、38402160。红外相机仅支持 640*512，无法设置

Example:

{
	"data": {
		"payload_index": "81-0-0",
		"video_resolution": 0
	},
	"method": "drc_video_resolution_set",
	"seq": 1
}

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

Direction: up

Method: drc_video_resolution_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_video_resolution_set",
	"seq": 1
}

负载控制—视频存储设置

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_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
video_storage_settings	视频存储	array	{"size": -, "item_type": text}	视频存储类型{current, vision, ir}，根据机型可多选

Example:

{
	"data": {
		"payload_index": "81-0-0",
		"video_storage_settings": [
			"current",
			"ir",
			"vision"
		]
	},
	"method": "drc_video_storage_set",
	"seq": 1
}

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

Direction: up

Method: drc_video_storage_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_video_storage_set",
	"seq": 1
}

负载控制—照片存储设置

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_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
photo_storage_settings	照片存储设置	array	{"size": -, "item_type": text}	拍照存储类型{current, vision, ir}，根据机型可多选

Example:

{
	"data": {
		"payload_index": "81-0-0",
		"photo_storage_settings": [
			"current",
			"ir",
			"vision"
		]
	},
	"method": "drc_photo_storage_set",
	"seq": 1
}

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

Direction: up

Method: drc_photo_storage_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_photo_storage_set",
	"seq": 1
}

负载控制—设置定时拍

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_interval_photo_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
interval	定时拍照间隔	enum_string	{"1":"1s","2":"2s","3":"3s","5":"5s","7":"7s","10":"10s","15":"15s","20":"20s","30":"30s","60":"60s","0.7":"0.7s"}	不同照片尺寸取值范围不一样。照片尺寸在 8K 以下时拍照间隔的设置没有限制。8K 照片不能设置0.7s 和 1s。请忽略照片尺寸在 8K 以上的场景。

Example:

{
	"data": {
		"interval": 1,
		"payload_index": "80-0-0"
	},
	"method": "drc_interval_photo_set",
	"seq": 1
}

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

Direction: up

Method: drc_interval_photo_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_interval_photo_set",
	"seq": 1
}

DRC初始状态订阅

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_initial_state_subscribe

Data: null

Example:

{
	"data": {},
	"method": "drc_initial_state_subscribe",
	"seq": 1
}

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

Direction: up

Method: drc_initial_state_subscribe

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_initial_state_subscribe",
	"seq": 1
}

夜航灯设置

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_night_lights_state_set

Data:

Column	Name	Type	constraint	Description
night_lights_state	状态	enum_int	{"0":"关闭","1":"开启"}

Example:

{
	"data": {
		"night_lights_state": 0
	},
	"method": "drc_night_lights_state_set",
	"seq": 1
}

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

Direction: up

Method: drc_night_lights_state_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_night_lights_state_set",
	"seq": 1
}

飞行控制—隐蔽模式

设置飞行器的隐蔽模式，用于关闭所有飞行器灯光（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_stealth_state_set

Data:

Column	Name	Type	constraint	Description
stealth_state	隐蔽模式	enum_int	{"0":"关闭","1":"开启"}	隐蔽模式状态

Example:

{
	"data": {
		"stealth_state": 0
	},
	"method": "drc_stealth_state_set",
	"seq": 1
}

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

Direction: up

Method: drc_stealth_state_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_stealth_state_set",
	"seq": 1
}

负载控制—相机光圈

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_camera_aperture_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
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举
aperture_value	光圈值	enum_int	{"0":"F_AUTO","50":"F0_5","70":"F0_7","80":"F0_8","90":"F0_9","95":"F0_95","100":"F1_0","110":"F1_1","120":"F1_2","140":"F1_4","160":"F1_6","170":"F1_7","180":"F1_8","200":"F2","220":"F2_2","240":"F2_4","250":"F2_5","280":"F2_8","320":"F3_2","330":"F3_3","340":"F3_4","350":"F3_5","400":"F4","440":"F4_4","450":"F4_5","480":"F4_8","500":"F5","560":"F5_6","630":"F6_3","670":"F6_7","680":"F6_8","710":"F7_1","800":"F8","900":"F9","950":"F9_5","960":"F9_6","1000":"F10","1100":"F11","1300":"F13","1400":"F14","1600":"F16","1800":"F18","1900":"F19","2000":"F20","2200":"F22","2500":"F25","2700":"F27","2900":"F29","3200":"F32","3600":"F36","3800":"F38","4000":"F40","4500":"F45","5100":"F51","5400":"F54","5700":"F57","6400":"F64","7200":"F72","7600":"F76","8000":"F80","9000":"F90","10700":"F107","12800":"F128","18000":"F180","25600":"F256"}	根据不同机型，范围不一致

Example:

{
	"data": {
		"aperture_value": 5,
		"camera_type": "zoom",
		"payload_index": "39-0-7"
	},
	"method": "drc_camera_aperture_value_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_aperture_value_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_aperture_value_set",
	"seq": 1
}

负载控制—相机快门

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_camera_shutter_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
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举
shutter_value	快门设置	enum_int	{"0":"1/8000 s","1":"1/6400 s","2":"1/6000 s","3":"1/5000 s","4":"1/4000 s","5":"1/3200 s","6":"1/3000 s","7":"1/2500 s","8":"1/2000 s","9":"1/1600 s","10":"1/1500 s","11":"1/1250 s","12":"1/1000 s","13":"1/800 s","14":"1/725 s","15":"1/640 s","16":"1/500 s","17":"1/400 s","18":"1/350 s","19":"1/320 s","20":"1/250 s","21":"1/240 s","22":"1/200 s","23":"1/180 s","24":"1/160 s","25":"1/125 s","26":"1/120 s","27":"1/100 s","28":"1/90 s","29":"1/80 s","30":"1/60 s","31":"1/50 s","32":"1/40 s","33":"1/30 s","34":"1/25 s","35":"1/20 s","36":"1/15 s","37":"1/12.5 s","38":"1/10 s","39":"1/8 s","40":"1/6.25 s","41":"1/5 s","42":"1/4 s","43":"1/3 s","44":"1/2.5 s","45":"1/2 s","46":"1/1.67 s","47":"1/1.25 s","48":"1.0 s","49":"1.3 s","50":"1.6 s","51":"2.0 s","52":"2.5 s","53":"3.0 s","54":"3.2 s","55":"4.0 s","56":"5.0 s","57":"6.0 s","58":"7.0 s","59":"8.0 s","60":"Auto"}	根据不同机型范围不一样

Example:

{
	"data": {
		"aperture_value": 5,
		"camera_type": "zoom",
		"payload_index": "39-0-7"
	},
	"method": "drc_camera_shutter_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_shutter_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_shutter_set",
	"seq": 1
}

负载控制—ISO设置

seq 是递增的序号，保证指令顺序执行，与 data 同级

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

Direction: down

Method: drc_camera_iso_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
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举
iso_value	ISO值	enum_int	{"0":"ISO_AUTO","2":"ISO_50","3":"ISO_100","4":"ISO_200","5":"ISO_400","6":"ISO_800","7":"ISO_1600","8":"ISO_3200","9":"ISO_6400","10":"ISO_12800","11":"ISO_25600","12":"ISO_51200","13":"ISO_102400","255":"ISO_FIXED"}	不同机型范围不一样

Example:

{
	"data": {
		"camera_type": "zoom",
		"iso_value": 5,
		"payload_index": "39-0-7"
	},
	"method": "drc_camera_iso_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_iso_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_iso_set",
	"seq": 1
}

负载控制—机械快门

支持用户手动关闭机械快门，提高设备作业寿命，Matrice 3D 广角模式下机械快门开关（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_camera_mechanical_shutter_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
camera_type	相机类型	enum_string	{"wide":"广角"}	相机类型枚举
dewarping_state	是否使能机械快门	enum_int	{"0":"关闭","1":"开启"}	开启还是关闭机械快门

Example:

{
	"data": {
		"camera_type": "wide",
		"mechanical_shutter_state": 1,
		"payload_index": "39-0-7"
	},
	"method": "drc_camera_mechanical_shutter_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_mechanical_shutter_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_mechanical_shutter_set",
	"seq": 1
}

负载控制—镜头去畸变

能让用户的广角视角不再有暗角，Matrice 3D 广角模式的镜头去畸变（seq 是递增的序号，保证指令顺序执行，与 data 同级）

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

Direction: down

Method: drc_camera_dewarping_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
camera_type	相机类型	enum_string	{"wide":"广角"}	相机类型枚举
dewarping_state	是否使能去畸变	enum_int	{"0":"关闭","1":"开启"}	开启还是关闭畸变

Example:

{
	"data": {
		"camera_type": "wide",
		"dewarping_state": 1,
		"payload_index": "39-0-7"
	},
	"method": "drc_camera_dewarping_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_dewarping_set

Data:

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

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_dewarping_set",
	"seq": 1
}