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	[新增]剩余任务距离	float	{"step":0.1,"unit":"米 / m"}
remaining_time	[新增]剩余任务时间	float	{"step":0.1,"unit":"秒 / s"}
planned_path_points	[新增]规划的轨迹点列表	array	{"size": -, "item_type": struct}
»latitude	轨迹点纬度(角度值)	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(角度值)	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":"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	[新增]剩余任务距离	float	{"step":0.1,"unit":"米 / m"}
remaining_time	[新增]剩余任务时间	float	{"step":0.1,"unit":"秒 / s"}
planned_path_points	[新增]规划的轨迹点列表	array	{"size": -, "item_type": struct}
»latitude	轨迹点纬度(角度值)	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(角度值)	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":"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"
}

Joystick 控制无效原因通知

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"
}

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":"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":"赫兹 / Hz"}	设置 OSD 上报频率
hsi_frequency	HSI 频率	int	{"max":30,"min":1,"unit":"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(角度值)	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(角度值)	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":"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":2,"step":0.1,"unit":"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	返航模式设置值	enum_int	{"0":"智能高度","1","设定高度"}
rth_altitude	返航高度	int	{"max":1500,"min":2,"step":1,"unit":"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
exit_wayline_when_rc_lost	[废弃]航线失控动作	enum_int	{"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"}
commander_mode_lost_action	[新增]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	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	[新增]指点飞行高度	float	{"max":3000,"min":2,"step":0.1,"unit":"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":"米每秒 / m/s"}
simulate_mission	[新增]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"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "ABDEAC21DCADDA",
		"max_speed": 12,
		"out_of_control_action": 0,
		"rth_altitude": 100,
		"security_takeoff_height": 100,
		"target_height": 100,
		"target_latitude": 12.23,
		"target_longitude": 12.32
	},
	"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

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":"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(角度值)	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(角度值)	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":"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
			},
			{
				"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"
}

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"}

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—单拍

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

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—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":"弧度每秒 / rad/s"}	云台 pitch 速度
yaw_speed	云台 yaw 速度	double	{"unit":"弧度每秒 / rad/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"}	相机类型枚举
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(角度值)	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(角度值)	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":"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"
}

DRC

DRC-飞行控制

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":"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":"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":"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":"弧度每秒 / rad/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	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": 0
	},
	"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

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

Direction: down

Method: heart_beat

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
timestamp	心跳发送时间戳	int	{"unit":"毫秒 / ms"}	收到的心跳发送时的时间戳，非设备端的时间，便于云端根据收发的间隔做时延计算

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

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

Direction: up

Method: heart_beat

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
timestamp	心跳发送时间戳	int	{"unit":"毫秒 / ms"}	收到的心跳发送时的时间戳，非设备端的时间，便于云端根据收发的间隔做时延计算

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

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":"毫米 / mm"}
down_distance	下方的障碍物距离	int	{"unit":"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:

"{\n        \"method\": \"hsi_info_push\",\n        \"timestamp\": 1670415891013,\n        \"data\": {\n          \"up_distance\": 10,\n          \"down_distance\": 10,\n          \"around_distances\": [\n            10,\n            8,\n            9,\n            16,\n            2,\n            60000,\n            60000,\n            60000,\n            ...\n          ],\n          \"up_enable\": true,\n          \"up_work\": true,\n          \"down_enable\": true,\n          \"down_work\": true,\n          \"left_enable\": true,\n          \"left_work\": true,\n          \"right_enable\": true,\n          \"right_work\": true,\n          \"front_enable\": true,\n          \"front_work\": true,\n          \"back_enable\": true,\n          \"back_work\": true,\n          \"vertical_enable\": true,\n          \"vertical_work\": true,\n          \"horizontal_enable\": true,\n          \"horizontal_work\": true\n        }\n      }"

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":"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":"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,
	"method": "delay_info_push"
}

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":"度 / °"}	飞行器姿态 head 角
latitude	飞行器纬度	double	{"unit":"度 / °"}
longitude	飞行器经度	double	{"unit":"度 / °"}
height	飞行器高度	double	{"unit":"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":"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":"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":"米每秒 / m/s"}
gimbal_pitch	云台 pitch 角	double	{"unit":"度 / °"}
gimbal_roll	云台 roll 角	double	{"unit":"度 / °"}
gimbal_yaw	云台 yaw 角	double	{"unit":"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,
	"method": "osd_info_push"
}

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

# Joystick 控制无效原因通知

# 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

# 负载控制—切换相机模式

# 负载控制—单拍

# 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

# DRC

# DRC-飞行控制

# 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

Joystick 控制无效原因通知

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

负载控制—切换相机模式

负载控制—单拍

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

DRC

DRC-飞行控制

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