远程控制

Event

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	{"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open in new window
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	{"max":"","min":"","step":"","unit_name":null}
»zoom_factor	变焦倍数	int	{"max":"","min":"","step":"","unit_name":null}
»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": "89-0-0",
		"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
}

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
}

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	{"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open in new window
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	{"max":"","min":"","step":"","unit_name":null}
»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": "89-0-0"
	},
	"method": "drc_camera_state_push",
	"seq": 1
}

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	{"max":"","min":"","step":"","unit_name":null}
result	拍照结果	int	{"max":"","min":"","step":"","unit_name":null}	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
}

Service

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
timestamp	心跳发送时间戳	int	{"max":"","min":"","step":"","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
timestamp	心跳发送时间戳	int	{"max":"","min":"","step":"","unit_name":"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": {
		"timestamp": 1670415891013
	},
	"method": "heart_beat",
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

DRC-飞行器急停

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: drone_emergency_stop

Data:

Column	Name	Type	constraint	Description
null	null	int	{"max":"","min":"","step":"","unit_name":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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

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。

Example:

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

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	{"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open in new window
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": "89-0-0"
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_dewarping_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	{"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open in new window
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": "89-0-0"
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_mechanical_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	{"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open in new window
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": "89-0-0"
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_iso_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	{"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open in new window
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": {
		"camera_type": "zoom",
		"payload_index": "89-0-0",
		"shutter_value": 5
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_camera_shutter_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	{"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open in new window
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": 0,
		"camera_type": "zoom",
		"payload_index": "89-0-0"
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

飞行控制—隐蔽模式

设置飞机的隐蔽模式，用于关闭所有飞机灯光（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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_stealth_state_set",
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_night_lights_state_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	{"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open in new window
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（例如照片尺寸设置 8k 的时候，定时拍照间隔无法设置 0.7s、1s）

Example:

{
	"data": {
		"interval": 1,
		"payload_index": "89-0-0"
	},
	"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_interval_photo_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	{"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open in new window
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": "89-0-0",
		"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_photo_storage_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	{"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open in new window
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": "89-0-0",
		"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_video_storage_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	{"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open in new window
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": "89-0-0",
		"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_video_resolution_set",
	"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	{"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open in new window
state	联动变焦状态	bool	{"0":"关闭","1":"开启"}

Example:

{
	"data": {
		"payload_index": "89-0-0",
		"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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

紧急降落

飞行器距离机场五米以上时，触发紧急降落会降落到地面，请谨慎使用（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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drc_emergency_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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

强制降落

飞行器使用强制降落，会降落到地面，请谨慎使用（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	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

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}/drc/down

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open in new window
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": "89-0-0"
	},
	"method": "drc_camera_mode_switch",
	"seq": 1
}

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

Direction: up

Method: drc_camera_mode_switch

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—开始录像

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

Direction: down

Method: drc_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:

{
	"data": {
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_recording_start",
	"seq": 1
}

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

Direction: up

Method: drc_camera_recording_start

Data:

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

Example:

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

负载控制—停止录像

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

Direction: down

Method: drc_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:

{
	"data": {
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_recording_stop",
	"seq": 1
}

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

Direction: up

Method: drc_camera_recording_stop

Data:

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

Example:

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

负载控制—画面拖动控制

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

Direction: down

Method: drc_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":"弧度每秒 / rad/s"}	云台 pitch 速度
yaw_speed	云台 yaw 速度	double	{"unit_name":"弧度每秒 / rad/s"}	云台 yaw 速度，仅不锁机头时才生效

Example:

{
	"data": {
		"locked": false,
		"payload_index": "89-0-0",
		"pitch_speed": 0.6,
		"yaw_speed": -0.6
	},
	"method": "drc_camera_screen_drag",
	"seq": 1
}

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

Direction: up

Method: drc_camera_screen_drag

Data:

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

Example:

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

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}/drc/down

Direction: down

Method: drc_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:

{
	"data": {
		"camera_type": "wide",
		"locked": false,
		"payload_index": "89-0-0",
		"x": 0.8310580204778157,
		"y": 0.32272727272727275
	},
	"method": "drc_camera_aim",
	"seq": 1
}

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

Direction: up

Method: drc_camera_aim

Data:

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

Example:

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

负载控制—变焦

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

Direction: down

Method: drc_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:

{
	"data": {
		"camera_type": "zoom",
		"payload_index": "89-0-0",
		"zoom_factor": 7
	},
	"method": "drc_camera_focal_length_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_focal_length_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_focal_length_set",
	"seq": 1
}

负载控制—重置云台

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

Direction: down

Method: drc_gimbal_reset

Data:

Column	Name	Type	constraint	Description
payload_index	{{type-subtype-gimbalindex}_aembLbhPpc}	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:

{
	"data": {
		"payload_index": "89-0-0",
		"reset_mode": 1
	},
	"method": "drc_gimbal_reset",
	"seq": 1
}

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

Direction: up

Method: drc_gimbal_reset

Data:

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

Example:

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

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}/drc/down

Direction: down

Method: drc_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_name":"米 / m"}	目标点高度（椭球高）

Example:

{
	"data": {
		"height": 24.838796976545467,
		"latitude": 22.908061229971967,
		"locked": false,
		"longitude": 113.70510712582023,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_look_at",
	"seq": 1
}

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

Direction: up

Method: drc_camera_look_at

Data:

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

Example:

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

负载控制—分屏

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

Direction: down

Method: drc_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:

{
	"data": {
		"enable": true,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_screen_split",
	"seq": 1
}

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

Direction: up

Method: drc_camera_screen_split

Data:

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

Example:

{
	"data": {
		"enable": true,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_screen_split",
	"seq": 1
}

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}/drc/down

Direction: down

Method: drc_camera_frame_zoom

Data:

Column	Name	Type	constraint
payload_index	相机枚举	text	{"length":""}
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:

{
	"data": {
		"camera_type": "zoom",
		"height": 0.5,
		"locked": true,
		"payload_index": "89-0-0",
		"width": 0.8,
		"x": 0.5,
		"y": 0.5
	},
	"method": "drc_camera_frame_zoom",
	"seq": 1
}

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

Direction: up

Method: drc_camera_frame_zoom

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}

Example:

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

负载控制—红外测温区域设置

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

Direction: down

Method: drc_ir_metering_area_set

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open in new window
x	测温区域左上角点坐标 x	double	{"max":1,"min":"","step":"","unit_name":null}	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":"","step":"","unit_name":null}	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":"","step":"","unit_name":null}
height	测温区域高度	double	{"max":1,"min":"","step":"","unit_name":null}

Example:

{
	"data": {
		"height": 0.2,
		"payload_index": "89-0-0",
		"width": 0.2,
		"x": 0.5,
		"y": 0.5
	},
	"method": "drc_ir_metering_area_set",
	"seq": 1
}

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

Direction: up

Method: drc_ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—红外测温点设置

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

Direction: down

Method: drc_ir_metering_point_set

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open in new window
x	测温点坐标 x	double	{"max":1,"min":"","step":"","unit_name":null}	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":"","step":"","unit_name":null}	以镜头的左上角为坐标中心点，竖直方向为 y

Example:

{
	"data": {
		"payload_index": "89-0-0",
		"x": 0.5,
		"y": 0.5
	},
	"method": "drc_ir_metering_point_set",
	"seq": 1
}

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

Direction: up

Method: drc_ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—红外测温模式设置

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

Direction: down

Method: drc_ir_metering_mode_set

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:

{
	"data": {
		"mode": 1,
		"payload_index": "89-0-0"
	},
	"method": "drc_ir_metering_mode_set",
	"seq": 1
}

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

Direction: up

Method: drc_ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—点对焦

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

Direction: down

Method: drc_camera_point_focus_action

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":"","step":"","unit_name":null}	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":"","step":"","unit_name":null}	以镜头的左上角为坐标中心点，竖直方向为 y

Example:

{
	"data": {
		"camera_type": "zoom",
		"payload_index": "89-0-0",
		"x": 0.5,
		"y": 0.5
	},
	"method": "drc_camera_point_focus_action",
	"seq": 1
}

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

Direction: up

Method: drc_camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—相机对焦值设置

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

Direction: down

Method: drc_camera_focus_value_set

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	{"max":"","min":"","step":"","unit_name":null}	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:

{
	"data": {
		"camera_type": "zoom",
		"focus_value": 11,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_focus_value_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—相机对焦模式设置

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

Direction: down

Method: drc_camera_focus_mode_set

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:

{
	"data": {
		"camera_type": "zoom",
		"focus_mode": 0,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_focus_mode_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—相机曝光值调节

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

Direction: down

Method: drc_camera_exposure_set

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:

{
	"data": {
		"camera_type": "zoom",
		"exposure_value": 8,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_exposure_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_exposure_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—相机曝光模式设置

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

Direction: down

Method: drc_camera_exposure_mode_set

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:

{
	"data": {
		"camera_type": "zoom",
		"exposure_mode": 1,
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_exposure_mode_set",
	"seq": 1
}

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

Direction: up

Method: drc_camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

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}/drc/down

Direction: down

Method: drc_camera_photo_stop

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open in new window

Example:

{
	"data": {
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_photo_stop",
	"seq": 1
}

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

Direction: up

Method: drc_camera_photo_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误

Example:

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

负载控制—开始拍照

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

Direction: down

Method: drc_camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text	{"length":""}	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:

{
	"data": {
		"payload_index": "89-0-0"
	},
	"method": "drc_camera_photo_take",
	"seq": 1
}

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

Direction: up

Method: drc_camera_photo_take

Data:

Column	Name	Type	constraint	Description
result	返回码	int	{"max":"","min":"","step":"","unit_name":null}	非 0 代表错误
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:

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

远程控制

# Event

# 摄像头 osd 推送

# 飞行器状态信息上报

# 相机状态上报

# 拍照信息上报

# Service

# DRC-心跳

# DRC初始状态订阅

# DRC-飞行器急停

# DRC-杆量控制

# 负载控制—镜头去畸变

# 负载控制—机械快门

# 负载控制—ISO设置

# 负载控制—相机快门

# 负载控制—相机光圈

# 飞行控制—隐蔽模式

# 夜航灯设置

# 负载控制—设置定时拍

# 负载控制—照片存储设置

# 负载控制—视频存储设置

# 负载控制—视频分辨率设置

# 负载控制—红外联动变焦

# 紧急降落

# 急停

# 强制降落

# 负载控制—切换相机模式

# 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—框选变焦

# 负载控制—红外测温区域设置

# 负载控制—红外测温点设置

# 负载控制—红外测温模式设置

# 负载控制—点对焦

# 负载控制—相机对焦值设置

# 负载控制—相机对焦模式设置

# 负载控制—相机曝光值调节

# 负载控制—相机曝光模式设置

# 负载控制—停止拍照

# 负载控制—开始拍照

Event

摄像头 osd 推送

飞行器状态信息上报

相机状态上报

拍照信息上报

Service

DRC-心跳

DRC初始状态订阅

DRC-飞行器急停

DRC-杆量控制

负载控制—镜头去畸变

负载控制—机械快门

负载控制—ISO设置

负载控制—相机快门

负载控制—相机光圈

飞行控制—隐蔽模式

夜航灯设置

负载控制—设置定时拍

负载控制—照片存储设置

负载控制—视频存储设置

负载控制—视频分辨率设置

负载控制—红外联动变焦

紧急降落

急停

强制降落

负载控制—切换相机模式

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—框选变焦

负载控制—红外测温区域设置

负载控制—红外测温点设置

负载控制—红外测温模式设置

负载控制—点对焦

负载控制—相机对焦值设置

负载控制—相机对焦模式设置

负载控制—相机曝光值调节

负载控制—相机曝光模式设置

负载控制—停止拍照

负载控制—开始拍照