Live Flight Controls

Event

Flyto execution result event notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto target point ID	text
status	State	enum_string	{"wayline_cancel":"Cancel flying to target point","wayline_failed":"Execution failed","wayline_ok":"Executed successfully, flown to target point","wayline_progress":"Executing"}
result	Return code	int		Non-zero represents an error
way_point_index	Currently executing the nth waypoint	int
remaining_distance	Remaining mission distance	float	{"step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"step":0.1,"unit_name":"Seconds / s"}
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point	double	{"max":90,"min":-90}	Latitude of the trajectory point, angle value, negative for south latitude, positive for north latitude, accurate to 6 decimal places.
»longitude	Longitude of the trajectory point	double	{"max":180,"min":-180}	Longitude of the trajectory point, angle value, east longitude is positive, west longitude is negative, precision to 6 decimal places.
»height	Trajectory point height	float	{"step":0.1,"unit_name":"Meters / m"}	Trajectory point height, ellipsoid height

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"
}

One-key takeoff result event notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	constraint	Description
status	Task state	enum_string	{"task_finish":"One-key takeoff mission completed","task_ready":"Ready for takeoff","wayline_cancel":"Cancel flying to target point","wayline_failed":"Execution failed","wayline_ok":"Executed successfully, flown to target point","wayline_progress":"Executing"}
result	Return code	int		Non-zero represents an error
flight_id	One-key takeoff mission UUID	text
track_id	Track ID	text
way_point_index	Currently executing the nth waypoint	int
remaining_distance	Remaining mission distance	float	{"step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"step":0.1,"unit_name":"Seconds / s"}
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point	double	{"max":90,"min":-90}	Latitude of the trajectory point, angle value, negative for south latitude, positive for north latitude, accurate to 6 decimal places.
»longitude	Longitude of the trajectory point	double	{"max":180,"min":-180}	Longitude of the trajectory point, angle value, east longitude is positive, west longitude is negative, precision to 6 decimal places.
»height	Trajectory point height	float	{"step":0.1,"unit_name":"Meters / m"}	Trajectory point height, ellipsoid height

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 link state notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: drc_status_notify

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error
drc_state	Live flight controls state	enum_int	{"0":"Not connected","1":"Connecting","2":"Connected"}

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"
}

Notification of DRC - flight control invalidity reasons

The DRC - flight control is an integrated control feature for the aircraft. If it is unavailable, the drone_control capability cannot be used for manual operation. Topic: thing/product/{gateway_sn}/events

Direction: up

Method: joystick_invalid_notify

Data:

Column	Name	Type	constraint	Description
reason	Task state	int	{"0":"Remote controller lost connection","1":"Low battery return","2":"Low battery landing","3":"Close to the flight restriction zone","4":"Remote controller takeover control authority (for example, triggered return, B control takeover)"}

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"
}

Upload capture progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: camera_photo_take_progress

Data:

Column	Name	Type	constraint	Description
output	Output	struct
»status	Capturing state	enum_string	{"fail":"Failed","in_progress":"Executing","ok":"Cpmpleted"}
»progress	Progress	struct
»»current_step	Execution step	enum_int	{"3000":"Panorama photo capturing is not start or is finished","3002":"Panorama photo is capturing","3005":"Panorama photo is synthesizing"}
»»percent	Progress value	int	{"max":"100","min":"0","step":"1"}
»ext	Extended content	struct
»»camera_mode	Current camera mode	enum_int	{"3":"Panorama"}
result	Return code	int		Non-zero represents an error

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

Grabbing flight control authority

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	Return code	int		Non-zero represents an error

Example:

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

Payload control authority grab

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
payload_index	Payload enumeration value	text		Enumeration of camera payload and mounted location. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen 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	Return code	int		Non-zero represents an error

Example:

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

Enter live flight controls mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
mqtt_broker	Broker connection information	struct		Get the address and authentication information of the MQTT relay service
»address	Server connection address	text		Server connection address, for example, 192.0.2.1:8883, mqtt.dji.com:8883
»client_id	Client ID	text		Customizable MQTT client ID. It is recommended to use the device's serial number (SN code). It can also be combined with a meaningful prefix, such as `drc-4J4R101`
»username	User name	text		Username used when establishing a connection
»password	Password	text		Password required for authentication when establishing a connection
»expire_time	Authentication information expiration time	int	{"unit_name":"Seconds / s"}	Authentication information can be reused within the validity period. The expiration of authentication information does not affect devices that have already established a connection.
»enable_tls	Whether to enable TLS	bool		Enable TLS, i.e., encrypt the MQTT link
osd_frequency	OSD frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set OSD reporting frequency
hsi_frequency	HSI frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set HSI reporting frequency

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	Return code	int		Non-zero represents an error

Example:

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

Exit live flight controls mode

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	Return code	int		Non-zero represents an error

Example:

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

One-key takeoff

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
target_latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
target_longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
target_height	Target point height	float	{"max":1500,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoidal height), using the WGS84 model. Default behavior after reaching the point is hovering
security_takeoff_height	Safe takeoff height	float	{"max":1500,"min":20,"step":0.1,"unit_name":"Meters / m"}	Relative altitude to the takeoff point (dock) - ALT. The aircraft ascends to a specific height before flying to the target point.
rth_mode	[Required] Return home mode setting value	enum_int	{"0":"Intelligent altitude","1":"Preset altitude"}	In intelligent return home mode, the aircraft will automatically plan the optimal return home altitude. The DJI dock currently does not support setting the return home altitude mode and can only choose the 'Preset Altitude' mode. When the environment or lighting does not meet the requirements of the visual system (such as direct sunlight in the evening, weak or no light at night), the aircraft will use the return home altitude you set for straight-line return home.
rth_altitude	Return home altitude	int	{"max":1500,"min":2,"step":1,"unit_name":"Meters / m"}	Height relative to the (dock) takeoff point, relative high ALT
rc_lost_action	Remote controller lost control action	enum_int	{"0":"Hovering","1":"Landing","2":"Returning to home"}	Remote controller lost control action
commander_mode_lost_action	[Required] To-point flight loss of control action	enum_int	{"0":"Continue with the to-point flight mission","1":"Exit the to-point flight mission and perform normal loss of control behavior"}
commander_flight_mode	[Required] To-point mode setting value	enum_int	{"0":"Optimal height flight","1":"Preset height flight"}
commander_flight_height	[Required] To-point height	float	{"max":3000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Height relative to the (dock) takeoff point, relative high ALT
flight_id	One-key takeoff mission UUID	text		Wayline UUID, globally unique, used for coloring, distinguishing between a regular planned mission and a one-key takeoff mission on the cloud
max_speed	Achievable maximum speed during one-key takeoff	int	{"max":15,"min":1,"unit_name":"Meters per second / m/s"}
simulate_mission	Whether to execute the mission in the simulator	struct		Optional field for simulating mission debugging indoors.
»is_enable	Whether to enable the simulator mission	enum_int	{"0":"Do not enable","1":"Enable"}	Open or close the simulator for this mission
»latitude	Latitude	double	{"max":"90.0","min":"-90.0"}
»longitude	Longitude	double	{"max":"180.0","min":"-180.0"}
flight_safety_advance_check	Pre-check for flight safety	bool	{"0":"Closed","1":"Opened"}	Set to pre-check the flight safety for Take Off and flight route task.This field is optional. The default value is 0, which represents closed. 1 represents opened.Checking if the local operating area file is consistent with the cloud side before the task starts. If the files are different, pull file from the cloud side to update.

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Fly to target point

The aircraft has a minimum flight altitude (20m) safety guarantee mechanism. If the altitude of the aircraft relative to the take-off point is lower than 20m, it will first rise to 20m.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto target point ID	text
max_speed	Achievable maximum speed during flyto	int	{"max":15,"min":0,"unit_name":"Meters per second / m/s"}
points	List of flyto target points	array	{"size": -, "item_type": struct}	Only supports 1 target point
»latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
»longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
»height	Target point height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoid height), using the WGS84 model

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

End Flyto task to target point

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	Return code	int		Non-zero represents an error

Example:

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

Update the target point of flyto

During the process of one-key takeoff or flyto target point, the target point can be quickly updated through this command

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
max_speed	Achievable maximum speed during the live flight controls	int	{"max":15,"min":1,"unit_name":"Meters per second / m/s"}
points	Updated target points list	array	{"size": -, "item_type": struct}	Only supports 1 target point
»latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
»longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
»height	Target point height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoid height), using the WGS84 model

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Payload control - subject zoom

The subject zoom function enables to select and frame a target area within the camera's field of view. When activated, the camera screen will automatically switch to the target frame, zoom in and adjust the gimbal to the center.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint
payload_index	Camera enumeration	text
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}
locked	Whether the relative relationship between the aircraft's heading and the gimbal is locked	bool	{"0":"Only gimbal turns, the aircraft body does not turn","1":"Lock the aircraft's heading. The gimbal and the aircraft body turn together"}
x	Upper-left coordinate x of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
y	Upper-left coordinate y of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
width	Width of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
height	Height of target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint	Description
result	Return code	int

Example:

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

Payload control - Switch Camera Mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_mode	Camera mode	enum_int	{"0":"Capturing","1":"Recording","2":"Smart Low-Light","3":"Panorama"}

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Start capturing

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen 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	Return code	int		Non-zero represents an error
output	Output	struct
»status	Task state	enum_string	{"in_progress":"Executing"}	When panorama photo capturing or other persistent photo capturing is in progress, state information will be uploaded. It represents there are further persistent progress event uploading. For details, please refer to `camera_photo_take_progress` event.

Example:

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

Payload control - Stop capturing

Command to stop capturing. Currently, only panorama mode is supported.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Start Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Stop Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Screen Drag Control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
locked	Whether the relative relationship between the aircraft's heading and the gimbal is locked	bool	{"false":"Only gimbal turns, the aircraft body does not turn","true":"Lock the aircraft's heading. The gimbal and the aircraft body turn together"}
pitch_speed	Gimbal pitch speed	double	{"unit_name":"Degree per second / degree/s"}	Gimbal pitch speed
yaw_speed	Gimbal yaw speed	double	{"unit_name":"Degree per second / degree/s"}	Gimbal yaw speed, effective only when the aircraft head is not locked.

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Double tap to AIM

The double-tap AIM function allows you to double-tap on a target point within the camera's field of view, making that point the center of the camera's field of view.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}
locked	Whether the relative relationship between the aircraft's heading and the gimbal is locked	bool	{"false":"Only gimbal turns, the aircraft body does not turn","true":"Lock the aircraft's heading. The gimbal and the aircraft body turn together"}
x	Target coordinate x	double	{"max":1,"min":0}	Target coordinate x, with the upper-left corner of the lens as the coordinate center, and the horizontal direction as x.
y	Target coordinate y	double	{"max":1,"min":0}	Target coordinates y, with the upper-left corner of the lens as the coordinate center, and the vertical direction as 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Zoom

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration
zoom_factor	Zoom factor	double	{"max":200,"min":2}	Zoom factor, 2-200 for visible light, 2-20 for infrared.

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Reset gimbal

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
payload_index	Payload index	text		Payload index. Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
reset_mode	Reset mode type	enum_int	{"0":"Reset","1":"Downward","2":"Gimbal pan recenter","3":"Gimbal pitch downward"}

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Look At

The Look At function instructs the aircraft to turn from its current orientation to a point specified by actual latitude, longitude, and altitude. For the M30/M30T model, it is recommended to use the method of locking the head. An exception may occur if the gimbal rotates only when the gimbal limit angle is reached.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
locked	Whether the relative relationship between the aircraft's heading and the gimbal is locked	bool	{"false":"Only gimbal turns, the aircraft body does not turn","true":"Lock the aircraft's heading. The gimbal and the aircraft body turn together"}
latitude	Target point latitude	double	{"max":90,"min":-90}	Angle value. Negative for south latitude, positive for north latitude, accurate to 6 decimal places.
longitude	Target point longitude	double	{"max":180,"min":-180}	Angle value. East longitude is positive, west longitude is negative, precision to 6 decimal places.
height	Target point height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoid height)

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Split Screen

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
enable	Whether to enable split screen	bool		Enable or disable split screen

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Photo storage settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
photo_storage_settings	Photo storage settings collection	array	{"size": -, "item_type": enum_string}	Photo storage types {current, vision, ir}, can be multiple

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"photo_storage_settings": [
			"current",
			"vision",
			"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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Video storage settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
video_storage_settings	Collection of video storage settings	array	{"size": -, "item_type": enum_string}	Video storage types {current, vision, ir}, can be selected multiple

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "39-0-7",
		"video_storage_settings": [
			"current",
			"vision",
			"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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Camera exposure mode setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration
exposure_mode	Exposure mode	enum_int	{"1":"Auto","2":"Shutter priority","3":"Aperture priority","4":"Manual exposure"}

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Camera exposure value adjustment

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}
exposure_value	Exposure value	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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Camera focus mode setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration. Note, this parameter only supports to be set on zoom lens when using Matrice 30 series aircraft
focus_mode	Focus mode	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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Camera focus value setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration. Note, this parameter only supports to be set on zoom lens when using Matrice 30 series aircraft
focus_value	Focus value	int		Focus value. The range can be get from the aircraft properties, zoom_max_focus_value and 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Spot AF

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration. Note, this parameter only supports to be set on zoom lens when using Matrice 30 series aircraft
x	Focusing point coordinate x	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The horizontal direction is x.
y	Focusing point coordinates y	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The vertical direction is 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Infrared temperature measurement mode setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
mode	Measurement mode	enum_int	{"0":"Close temperature measurement","1":"Point temperature measurement","2":"Area temperature measurement"}

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Infrared temperature measurement point setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
x	Temperature measurement point coordinate x	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The horizontal direction is x.
y	Temperature measurement point coordinate y	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The vertical direction is 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	Return code	int		Non-zero represents an error

Example:

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

Payload control - Infrared temperature measurement area setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration values. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Please refer to Product Supportedopen in new window
x	Coordinate x of the left and upper corner of the temperature measurement area	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The horizontal direction is x.
y	Coordinate y of the left and upper corner of the temperature measurement area	double	{"max":1,"min":0}	The left and upper corner of the lens is the coordinate center. The vertical direction is y.
width	Width of the temperature measurement area	double	{"max":1,"min":0}
height	Height of the temperature measurement area	double	{"max":1,"min":0}

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

DRC

DRC-Stick Control

After establishing the DRC link, the "DRC Stick Control" command can be used to control the aircraft and gimbal attitude. The sending frequency must be maintained at 5-10Hz to ensure precise control of aircraft movements. This protocol has no acknowledgment mechanism.

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

Direction: down

Method: stick_control

Data:

Column	Name	Type	constraint	Description
roll	Roll Channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to RC A-channel (Aileron), controls aircraft roll (manifested as lateral movement). Stick range: 1024±660, 1024=neutral (no action). Increasing values indicate right tilt, decreasing values indicate left tilt.
pitch	Pitch Channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to RC E-channel (Elevator), controls aircraft pitch (manifested as longitudinal movement). Stick range: 1024±660, 1024=neutral (no action). Increasing values indicate forward dive, decreasing values indicate backward tilt.
throttle	Throttle Channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to RC T-channel (Throttle), controls aircraft altitude. Stick range: 1024±660, 1024=hover state. Increasing values indicate ascent, decreasing values indicate descent.
yaw	Yaw Channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to RC R-channel (Rudder), controls aircraft yaw (manifested as rotation). Stick range: 1024±660, 1024=neutral (no action). Increasing values indicate clockwise rotation, decreasing values indicate counter-clockwise rotation.
gimbal_pitch	Gimbal Pitch	int	{"max":"1684","min":"364","unit_name":""}	Controls gimbal pitch. Stick range: 1024±660, 1024=neutral (level). Increasing values tilt upward, decreasing values tilt downward.

Example:

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

DRC-Flight Control (Abandoned)

Note: This protocol is no longer maintained, use "DRC-Stick Control" for better response performance.

After the live flight controls mode is entered, this command is allowed to control the drrone flight direction and speed. The sending frequency should be maintained from 5 to 10 HZ. Therefore the speed and direction can be controlled precisely.

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

Direction: down

Method: drone_control

Data:

Column	Name	Type	constraint	Description
seq	Command sequence number	int		Increasing sequence number ensures that the commands are executed in order. If the value of x, y, h, w change, seq should start from 0.
x	Speed of left and right direction	double	{"min":-17,"max":17,"unitName":"m/s"}	When see the aircraft from top and the aircraft is heading forward, positive value represents aircraft going left, and negative value represents aircraft going right. Unit: m/s
y	Speed of forward and backward direction	double	{"min":-17,"max":17,"unitName":"m/s"}	When see the aircraft from top and the aircraft is heading forward, positive value represents aircraft going forward, and negative value represents aircraft going backwarrrd. Unit: m/s
h	Height of upward and downward direction	double	{"min":5,"max":-4,"unitName":"m/s"}	Positive value represents aircraft going upward. Negative value represents aircraft going downward. Unit: m.
w	Degree speed of drone body	double	{"max":90,"min":-90,"unitName":"degree/s"}	Positive value is clockwise. Negative value is counterclockwise. Unit: degree/s.

Example:

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

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

Direction: up

Method: drone_control

Data:

Column	Name	Type	Description
result	Return Code	int	Non-zero represents an error. Abnormal case: No flight control authority. No virtual stick (Joystick) authority. Wrong data package sequence number.
output	Output	struct
»seq	Command sequence	int	Increasing sequence number ensures that the commands are executed in order

Example:

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

DRC-drone emergency stop

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

Direction: down

Method: drone_emergency_stop

Data: null

Example:

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

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

Direction: up

Method: drone_emergency_stop

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

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

DRC-heart beat

The seq at the same level as data is an incrementing sequence number that ensures the sequential execution of commands.

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

Direction: down

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	[Deprecated]Command sequence	int		Increasing sequence number ensures that the commands are executed in order
timestamp	Heart beat sending timestamp	int		The `heart_beat` protocol can determine whether the DRC link is active or not. If no heartbeat response is received within a certain period, the DRC link can be considered abnormal, and a retry can be initiated. If no heartbeat protocol is received for more than one minute, the device will consider the DRC link idle and exit the DRC link.

Example:

{
	"method": "heart_beat",
	"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	[Deprecated]Command sequence	int		Increasing sequence number ensures that the commands are executed in order
timestamp	Heart beat sending timestamp	int		The `heart_beat` protocol can determine whether the DRC link is active or not. If no heartbeat response is received within a certain period, the DRC link can be considered abnormal, and a retry can be initiated. If no heartbeat protocol is received for more than one minute, the device will consider the DRC link idle and exit the DRC link.

Example:

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

DRC-obstacle avoidance information pushing

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint
up_distance	Distance of upward obstacle	int	{"unit":"mm"}
down_distance	Distance of downward obstacle	int	{"unit":"mm"}
up_enable	State of upward obstacle sensing switch	bool
up_work	Working state of upward obstacle sensing	bool
down_enable	State of downward obstacle sensing switch	bool
down_work	Working state of downward obstacle sensing	bool
around_distances	Surrounding obstacle distance	array	{"item":{"size":360,"type":"int","specs":[{"identifier":"around_distance","name":"Obstacle distance","desc":"Horizontal observation points distribute in range of [0,360). It means the distance between obstacle and drone. It distributes clockwise. For example, 0 degree represents the heading direction of drone, and 90 degree represents the right direction of drone.","dataType":{"type":"int","unit":"mm"}}]}}

Example:

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

DRC-delay information pushing of image transmission link

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

Direction: up

Method: delay_info_push

Data:

Column	Name	Type	constraint	Description
sdr_cmd_delay	Delay of the image transmission command link	int	{"unit":"ms"}
liveview_delay_list	Delay of image transmission video code stream	array	{}	Multi-channel code stream
»[array_item]	Elements in array	struct	{}	{"size": ""}
»»video_id	Code stream index	text
»»liveview_delay_time	Dealy of the code stream	int	{"unit":"ms"}

Example:

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

DRC-high frequency osd information pushing

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

Direction: up

Method: osd_info_push

Data:

Column	Name	Type	constraint
attitude_head	Head angle of flight attitude	double	{"unit":"degree"}
latitude	Flight latitude	double	{"unit":"degree"}
longitude	Flight longitude	double	{"unit":"degree"}
height	Flight altitude	double	{"unit":"degree"}
speed_x	Drone speed of X coordinate direction	double	{"unit":"m/s"}
speed_y	Drone speed of Y coordinate direction	double	{"unit":"m/s"}
speed_z	Drone speed of Z coordinate direction	double	{"unit":"m/s"}
gimbal_pitch	Pitch angle of gimbal	double	{"unit":"degree"}
gimbal_roll	Roll angle of pitch	double	{"unit":"degree"}
gimbal_yaw	Yaw angle of gimbal	double	{"unit":"degree"}

Example:

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

Live Flight Controls

# Event

# Flyto execution result event notification

# One-key takeoff result event notification

# DRC link state notification

# Notification of DRC - flight control invalidity reasons

# Upload capture progress

# Service

# Grabbing flight control authority

# Payload control authority grab

# Enter live flight controls mode

# Exit live flight controls mode

# One-key takeoff

# Fly to target point

# End Flyto task to target point

# Update the target point of flyto

# Payload control - subject zoom

# Payload control - Switch Camera Mode

# Payload control - Start capturing

# Payload control - Stop capturing

# Payload control - Start Recording

# Payload control - Stop Recording

# Payload control - Screen Drag Control

# Payload control - Double tap to AIM

# Payload control - Zoom

# Payload control - Reset gimbal

# Payload control - Look At

# Payload control - Split Screen

# Payload control - Photo storage settings

# Payload control - Video storage settings

# Payload control - Camera exposure mode setting

# Payload control - Camera exposure value adjustment

# Payload control - Camera focus mode setting

# Payload control - Camera focus value setting

# Payload control - Spot AF

# Payload control - Infrared temperature measurement mode setting

# Payload control - Infrared temperature measurement point setting

# Payload control - Infrared temperature measurement area setting

# DRC

# DRC-Stick Control

# DRC-Flight Control (Abandoned)

# DRC-drone emergency stop

# DRC-heart beat

# DRC-obstacle avoidance information pushing

# DRC-delay information pushing of image transmission link

# DRC-high frequency osd information pushing

Event

Flyto execution result event notification

One-key takeoff result event notification

DRC link state notification

Notification of DRC - flight control invalidity reasons

Upload capture progress

Service

Grabbing flight control authority

Payload control authority grab

Enter live flight controls mode

Exit live flight controls mode

One-key takeoff

Fly to target point

End Flyto task to target point

Update the target point of flyto

Payload control - subject zoom

Payload control - Switch Camera Mode

Payload control - Start capturing

Payload control - Stop capturing

Payload control - Start Recording

Payload control - Stop Recording

Payload control - Screen Drag Control

Payload control - Double tap to AIM

Payload control - Zoom

Payload control - Reset gimbal

Payload control - Look At

Payload control - Split Screen

Payload control - Photo storage settings

Payload control - Video storage settings

Payload control - Camera exposure mode setting

Payload control - Camera exposure value adjustment

Payload control - Camera focus mode setting

Payload control - Camera focus value setting

Payload control - Spot AF

Payload control - Infrared temperature measurement mode setting

Payload control - Infrared temperature measurement point setting

Payload control - Infrared temperature measurement area setting

DRC

DRC-Stick Control

DRC-Flight Control (Abandoned)

DRC-drone emergency stop

DRC-heart beat

DRC-obstacle avoidance information pushing

DRC-delay information pushing of image transmission link

DRC-high frequency osd information pushing