指令飞行

Event

请求授权结果通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: cloud_control_auth_notify

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非0代表错误
output	输出	struct
»status	任务状态	enum_string	{"canceled":"有其他用户发起授权请求弹窗，本次弹窗被取消。","failed":"错误或者用户拒绝","ok":"用户同意"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"output": {
			"status": "ok"
		},
		"result": 0
	},
	"method": "cloud_control_auth_notify",
	"need_reply": 0,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1704038400000
}

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"
}

上报拍照进度

当拍照行为需持续进行时会通过该事件上报进度。目前仅支持：全景拍照模式

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: camera_photo_take_progress

Data:

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

Example:

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

Service

释放云端控制

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: cloud_control_release

Data:

Column	Name	Type	constraint	Description
control_keys	控制权列表	array	{"size": 1, "item_type": text}	需要释放的控制权列表。“flight”代表飞行控制权。

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "control_keys": [
            "flight"
        ]
    },
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1704038400000,
    "method": "cloud_control_release"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: cloud_control_release

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": {
		"output": {
			"status": "ok"
		},
		"result": 0
	},
	"method": "cloud_control_release",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1704038400000
}

请求授权云端控制

请求后，遥控器会出现“请求授权”的弹窗。

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: cloud_control_auth_request

Data:

Column	Name	Type	constraint	Description
user_id	用户ID	text		请求授权的云端用户ID。
user_callsign	用户呼号	text		请求授权的云端用户昵称。
control_keys	控制权的键	array	{"size": 1, "item_type": text}	请求飞行控制权，请填写“flight”。

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "user_id": "xxxxxxxxxxx",
        "user_callsign": "xxxxxxx",
        "control_keys": [
            "flight"
        ]
    },
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1704038400000,
    "method": "cloud_control_auth_request"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: cloud_control_auth_request

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": {
		"output": {
			"status": "ok"
		},
		"result": 0
	},
	"method": "cloud_control_auth_request",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1704038400000
}

进入指令控制模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data:

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

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

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

Example:

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

负载控制—切换相机模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_mode	相机模式	enum_int	{"0":"拍照","1":"录像","2":"智能低光","3":"全景拍照"}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_mode_switch

Data:

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

Example:

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

负载控制—开始录像

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_start

Data:

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

Example:

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

负载控制—停止录像

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_stop

Data:

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

Example:

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

负载控制—画面拖动控制

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
locked	机头和云台的相对关系是否锁定	bool	{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
pitch_speed	云台 pitch 速度	double	{"unit_name":"度每秒 / degree/s"}	云台 pitch 速度
yaw_speed	云台 yaw 速度	double	{"unit_name":"度每秒 / degree/s"}	云台 yaw 速度，仅不锁机头时才生效

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_drag

Data:

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

Example:

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

负载控制—双击成为 AIM

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

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_type	相机类型	enum_string	{"ir":"红外","wide":"广角","zoom":"变焦"}	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_name":"米 / m"}	目标点高度（椭球高）

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_look_at

Data:

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

Example:

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

负载控制—分屏

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
enable	是否使能分屏	bool		开启还是关闭分屏

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_split

Data:

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

Example:

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

负载控制—红外测温区域设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
x	测温区域左上角点坐标 x	double	{"max":1,"min":"","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:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_area_set

Data:

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

Example:

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

负载控制—红外测温点设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
x	测温点坐标 x	double	{"max":1,"min":"","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:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_point_set

Data:

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

Example:

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

负载控制—红外测温模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
mode	测温模式	enum_int	{"0":"关闭测温","1":"点测温","2":"区域测温"}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_mode_set

Data:

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

Example:

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

负载控制—点对焦

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
x	对焦点坐标 x	double	{"max":1,"min":"","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:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_point_focus_action

Data:

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

Example:

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

负载控制—相机对焦值设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_value	对焦值	int		对焦值，范围参见飞行器物模型属性 zoom_max_focus_value 和 zoom_min_focus_value

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_value_set

Data:

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

Example:

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

负载控制—相机对焦模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_mode	对焦模式	enum_int	{"0":"MF","1":"AFS","2":"AFC"}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_mode_set

Data:

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

Example:

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

负载控制—相机曝光值调节

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_set

Data:

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

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_set

Data:

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

Example:

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

负载控制—相机曝光模式设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window
camera_type	相机类型	enum_string	{"wide":"广角","zoom":"变焦"}	相机类型枚举
exposure_mode	曝光模式	enum_int	{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_mode_set

Data:

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

Example:

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

负载控制—停止拍照

停止拍照指令，目前仅支持全景拍照模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持open in new window

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_stop

Data:

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

Example:

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

负载控制—开始拍照

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		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
status	任务状态	enum_string	{"in_progress":"执行中"}	当全景拍照或其他持续性拍照行为时会上报状态信息，表达后续会有持续的进度事件上报，详细内容请查看 camera_photo_take_progress 事件

Example:

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

Requests

DRC-心跳

与 data 同级的 seq 是递增的序号，保证指令顺序执行

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

Direction: down

Method: heart_beat

Data:

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

Example:

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

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

Direction: up

Method: heart_beat

Data:

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

Example:

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

DRC-避障信息上报

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
up_distance	上方的障碍物距离	int	{"max":"","min":"","step":"","unit_name":"毫米 / mm"}	上方的障碍物距离
down_distance	下方的障碍物距离	int	{"max":"","min":"","step":"","unit_name":"毫米 / mm"}	下方的障碍物距离
up_enable	上视避障开关状态	bool	{"0":"关闭","1":"开启"}	上视避障开关状态
up_work	上视避障工作状态	bool	{"0":"关闭","1":"开启"}	上视避障工作状态
down_enable	下视避障开关状态	bool	{"0":"关闭","1":"开启"}	下视避障开关状态
down_work	下视避障工作状态	bool	{"0":"关闭","1":"开启"}	下视避障工作状态
around_distances	周边的障碍物距离	array	{"size": -, "item_type": int}	周边的障碍物距离
left_enable	左视避障开关状态	bool	{"0":"关闭","1":"开启"}
left_work	左视避障工作状态	bool	{"0":"关闭","1":"开启"}
right_enable	右视避障开关状态	bool	{"0":"关闭","1":"开启"}
right_work	右视避障工作状态	bool	{"0":"关闭","1":"开启"}
front_enable	前视避障开关状态	bool	{"0":"关闭","1":"开启"}
front_work	前视避障工作状态	bool	{"0":"关闭","1":"开启"}
back_enable	后视避障开关状态	bool	{"0":"关闭","1":"开启"}
back_work	后视避障工作状态	bool	{"0":"关闭","1":"开启"}
vertical_enable	垂直避障开关状态	bool	{"0":"关闭","1":"开启"}
vertical_work	垂直避障工作状态	bool	{"0":"关闭","1":"开启"}
horizontal_enable	水平避障开关状态	bool	{"0":"关闭","1":"开启"}
horizontal_work	水平避障工作状态	bool	{"0":"关闭","1":"开启"}

Example:

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

DRC-图传链路延时信息上报

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

Direction: up

Method: delay_info_push

Data:

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

Example:

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

指令飞行

# Event

# 请求授权结果通知

# DRC 链路状态通知

# 上报拍照进度

# Service

# 释放云端控制

# 请求授权云端控制

# 进入指令控制模式

# 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—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

# Requests

# DRC-心跳

# DRC-避障信息上报

# DRC-图传链路延时信息上报

Event

请求授权结果通知

DRC 链路状态通知

上报拍照进度

Service

释放云端控制

请求授权云端控制

进入指令控制模式

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—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

Requests

DRC-心跳

DRC-避障信息上报

DRC-图传链路延时信息上报