wayline

Event

Notification of device exits the Return to Home (RTH) state

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: device_exit_homing_notify

Data:

Column	Name	Type	constraint	Description
action	Notification type of exiting RTH	enum_int	{"0":"Exit `exiting RTH state`","1":"Enter `exiting RTH state`"}	Entering the `RTH exiting state` means that the aircraft exits the RTH process due to one of the reasons in the reason field of Cloud API. Exiting the `RTH exiting state` means the aircraft stop the exiting process.
reason	Reason for exiting RTH	enum_int	{"0":"Add joystick throttle","1":"Add joystick pitch","2":"The initialization of behavior tree is failed","3":"Surrounded by obstacles","4":"Flight restriction is triggered","5":"Obstacle is too closed","6":"No GPS signal","7":"The output flag of GPS and VIO location is false","8":"The error of GPS and VIO fusion position is too large","9":"Backtrack in a short distance","10":"Trigger the RTH in a short distance"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"action": 1,
		"reason": "0",
		"sn": "Dock SN"
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp:": 1654070968655,
        "method": "device_exit_homing_notify"
}

Report wayline task progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
ext	Expand content	struct
»current_waypoint_index	Current waypoint index	int
»wayline_mission_state	Wayline mission state	enum_int	{"0":"Disconnect","1":"Do not support this waypoint","2":"Wayline is ready. File can be uploaded and uploaded file can be executed.","3":"Wayline file is uploading","4":"Trigger start command. Trgger aircraft reading wayline. Not start. Under preparation.","5":"Enter wayline and arrive first waypoint","6":"Execute wayline","7":"Wayline is broken. Trigger reason: 1. User pauses the wayline. 2. Flight control is abnormal.","8":"Wayline recover","9":"Wayline stop"}
»media_count	Media file number generated by the wayline mission execution	int
»track_id	Wayline ID	text
»flight_id	Mission ID	text
»break_point	Wayline breakpoint information	struct		Optional field for resuming interrupted wayline task. If specified, the wayline task will start executing from the breakpoint position indicated by the field.
»»index	Breakpoint index	int
»»state	Breakpoint state	enum_int	{"0":"On the wayline segment","1":"On the waypoint"}
»»progress	Current wayline segment progress	float	{"max":"1.0","min":"0"}
»»wayline_id	Wayline ID	int
»»break_reason	Break reason	enum_int	{}
»»latitude	Breakpoint latitude	float	{"max":"90","min":"-90","unit":"degree / °"}
»»longitude	Breakpoint longitude	float	{"max":"180","min":"-180","unit":"degree / °"}
»»height	Breakpoint altitude relative to the Earth's ellipsoid surface	float	{"unit":"meter / m"}
»»attitude_head	Breakpoint yaw angle	float		Yaw angle relative to true north (meridian), with positive values from 0 to 6 o'clock direction and negative values from 6 to 12 o'clock direction
»wayline_id	Currently working wayline ID	int		This includes the transitional phase of entering the flight path. For example, 0 indicates that the spacecraft is entering or already executing the first route.
status	Task state	enum_string	{"partially_done":"partially done","sent":"sent","in_progress":"in progress","ok":"success","paused":"paused","rejected":"rejected","failed":"failed","canceled":"canceled or stopped","timeout":"timeout"}
progress	Progress	struct
»current_step	Execute Step	enum_int	{"0":"Initial state","1":"Pre-launch check: Is the spacecraft executing the route?","2":"Pre-launch check: Is the airport exiting work mode?","3":"Pre-launch check: Route execution in progress","4":"Pre-launch check: Return in progress","5":"Route execution entering preparation state, waiting for task issuance to begin","6":"Airport entering operational state","7":"Entering startup check preparation and hatch opening preparation","8":"Waiting for flight system readiness, push connection establishment","9":"Waiting for RTK source monitoring with reported values","10":"Check if RTK source is from the airport; if not, reset","11":"Waiting for flight control notification","12":"Airport has no control; wresting control from the aircraft","13":"Get the latest KMZ URL","14":"Download KMZ","15":"KMZ uploading","16":"Dye configuration","17":"Aircraft takeoff parameter settings, alternate landing point settings, takeoff altitude settings, dye settings","18":"Aircraft 'flyto' takeoff parameter settings","19":"Home point settings","20":"Trigger route execution","21":"Route execution in progress","22":"Entering return check preparation","23":"Aircraft landing at the airport","24":"Hatch closure after landing","25":"Airport exiting work mode","26":"Airport abnormal recovery","27":"Airport uploading flight system logs","28":"Camera recording status check","29":"Get the number of media files","30":"Abnormal recovery of airport takeoff hatch opening","31":"Notify task results","32":"Task execution completed; whether to initiate log retrieval based on configuration file","33":"Log list retrieval - Aircraft list","34":"Log list retrieval - Airport list retrieval","35":"Log list retrieval - Upload log list results","36":"Log retrieval - Retrieve aircraft logs","37":"Log retrieval - Retrieve airport logs","38":"Log retrieval - Compress aircraft logs","39":"Log retrieval - Compress airport logs","40":"Log retrieval - Upload aircraft logs","41":"Log retrieval - Upload airport logs","42":"Log retrieval - Notify results","0xFFFD":"Waiting for service response after completion","0xFFFE":"No specific status","0xFFFFF":"UNKNOWN"}
»percent	Progress value	int	{"max":"100","min":"0","step":"1"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"output": {
			"ext": {
				"break_point": {
					"attitude_head": 30,
					"break_reason": 1,
					"height": 100.23,
					"index": 1,
					"latitude": 23.4,
					"longitude": 113.99,
					"progress": 0.34,
					"state": 0,
					"wayline_id": 0
				},
				"current_waypoint_index": 3,
				"wayline_mission_state": 9,
				"wayline_id": 0,
				"flight_id": "flight_id",
				"media_count": 6,
				"track_id": "track_id"
			},
			"progress": {
				"current_step": 19,
				"percent": 100
			},
			"status": "ok"
		},
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_progress"
}

Notification of task readiness

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_ready

Data:

Column	Name	Type	constraint	Description
flight_ids	Mission ID	array	{"size": }	The task ID set that currently satisfies the task readiness conditions
»[array_item]	Elements in array	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_ids": [
			"aaaaaaa",
			"bbbbbbb"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_ready"
}

Return-to-home information

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: return_home_info

Data:

Column	Name	Type	constraint	Description
planned_path_points	Planned trajectory point list	array	{}	The real-time planned return route for the aircraft. Each push is a complete update of the route. There is an complete return path in the array.
»[array_item]	Elements in array	struct	{}	{"size": ""}
»»latitude	Trajectory point latitude(angle)	double	{"min":-90,"max":90}	The latitude of trajectory points, given in angular values. Negative values for south latitude and positive values for north latitude. Value is accurate to six decimal places.
»»longitude	Trajectory point longitude(angle)	double	{"min":-180,"max":180}	The latitude of trajectory points, given in angular values. Negative values for wast latitude and positive values for east latitude. Value is accurate to six decimal places.
»»height	Trajectory point height	float	{"unit":"meter / m","step":0.1}	ellipsoidal height
last_point_type	Type of the last point of trajectory	enum_int	{"0":"Last point of trajectory is located above the return point.","1":"Last point of trajectory is not located above the return point."}	You can use this field to determine the display mode of the last point in the trajectory. 0 means the last point of the trajectory is located above the return point on the ground. The terminal can display a line connecting the last point of the trajectory to the return point. 1 means the last point of the trajectory is not the return point. The terminal should not display a line connecting the last point of the trajectory to the return point. The reason for not being able to reach the return point could be that the return point is in a restricted zones or inside an obstacle.
flight_id	Mission ID	text		Currently working wayline mission ID

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "abc",
		"planned_path_points": [
			{
				"latitude": 13.23,
				"longitude": 123.234,
				"height": 123.234
			}
		],
		"last_point_type": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home_info"
}

Service

Create wayline task (Deprecated)

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_create

Data:

Column	Name	Type
flight_id	Mission ID	text
type	Mission type	text
file	Wayline file object	struct
»url	File URL	text
»sign	MD5 signature	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"file": {
			"sign": "xxxx",
			"url": "https://xxx.com/xxxx"
		},
		"flight_id": "xxxxxxx",
		"type": "wayline"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp:": 1654070968655,
	"method": "flighttask_create"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_create

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

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

Issue mission

If user's cloud service can not connect to the Internet (that is, the WAN), it is necessary to implement the update configurationopen in new window function to send the URL of the NTP service which can be accessed by the cloud service to synchronize the clock. Otherwise, the wayline task can not work properly.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
flight_id	Mission ID	text
execute_time	Execution start time	int	{"length":13}	Millisecond timestamp of mission execution time. Optional field. When the `task_type` is 0 or 1, it is required. When the `task_type` is 2, it is not required.
task_type	Mission type	enum_int	{"0":"Immediate mission","1":"Timed mission","2":"Conditional mission"}	The execution time of immediate task and timed task are defined by `execute_time`. The conditional mission supports the task readiness condition defined by `ready_conditions`. The task can be executed if conditions are satisfied within a specified period. Immediate task has the highest priority. Timed task and conditional mission have the same priority.
wayline_type	Wayline type	enum_int	{"0":"Normal waypoint wayline"}
file	Wayline file object	struct
»url	File URL	text
»fingerprint	File signature	text		File content MD5 signature
ready_conditions	Notification of task readiness	struct		Optional field. Required for conditional missions (when `task_type` is 2), and will be ignored by other types of missions. After sending a conditional mission, the device will periodically check whether all the `ready_conditions` are met. If all conditions are met, it will trigger a `flighttask_ready` event notification. Additionally, when the device receives the `flighttask_execute` command, it will also check whether all the `ready_conditions` for the task have been met.
»battery_capacity	Battery capacity	int		The aircraft battery percentage threshold of the executable task. The aircraft battery must be greater than the `battery_capacity` when the task starts.
»begin_time	Start time of the mission executable period	int	{"length":13}	Start millisecond timestamp of the mission executable period. The mission execution time should be later than the `begin_time`
»end_time	End time of the mission executable period	int	{"length":13}	End millisecond timestamp of the mission executable period. The mission execution time should be earlier than the `end_time`.
executable_conditions	Mission executable condition	struct		Optional field. Pre-check conditions added for task execution on the device side. If any condition is not satisfied, execution will fail.
»storage_capacity	Storage capacity	int		The minimum storage capacity of DJI dock or aircraft that can execute a task. Unit: MB. If the storage capacity doesn't satisfy the `storage_capacity`, task execution will fail.
break_point	Wayline breakpoint information	struct		Optional field for resuming interrupted wayline task. If specified, the wayline task will start executing from the breakpoint position indicated by the field.
»index	Breakpoint index	int
»state	Breakpoint state	enum_int	{"0":"On the wayline segment","1":"On the waypoint"}
»progress	Current wayline segment process	float	{"max":"1.0","min":"0"}
»wayline_id	Wayline ID	int
rth_altitude	Return-to-home altitude	int	{"max":1500,"min":20,"unit":"meter / m"}
rth_mode	RTH height mode	enum_int	{"0":"Optimal height","1":"Preset height"}	Under optimal RTH mode, aircraft will automatically plan the optimal return altitude. Currently, the DJI dock does not support setting the return altitude mode. You can only choose the 'Preset height' mode. When the environment and lighting do not meet the requirements of the visual system (such as direct sunlight in the evening or no light at night), the aircraft will perform a straight-line return at the altitude you have set.
out_of_control_action	Remote controller out of control action	enum_int	{"0":"Return-to-home (RTH)","1":"Hovering","2":"Landing"}	Current default transmitted value is 0, meaning Return-to-home (RTH). Note that this enumeration value definition is inconsistent with the flight control and dock definitions, and a conversion exists at the dock end.
exit_wayline_when_rc_lost	Wayline out of control action	enum_int	{"0":"Continue executing the wayline task","1":"Exit the wayline task and execute the remote controller out of control action"}	consistent with the KMZ file
simulate_mission	Whether execute mission in simulator	struct		Optional field. Used to indoor debugging the simulated mission.
»is_enable	Whether enable a simulated mission	enum_int	{"0":"Disable","1":"Enable"}
»latitude	Latitude	double	{"max":"90.0","min":"-90.0"}
»longitude	Longitude	double	{"max":"180.0","min":"-180.0"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"break_point": {
			"index": 1,
			"progress": 0.34,
			"state": 0,
			"wayline_id": 0
		},
		"executable_conditions": {
			"storage_capacity": 1000
		},
		"execute_time": 1234567890123,
		"file": {
			"fingerprint": "xxxx",
			"url": "https://xxx.com/xxxx"
		},
		"flight_id": "xxxxxxx",
		"out_of_control_action": 0,
		"exit_wayline_when_rc_lost": 0,
		"ready_conditions": {
			"battery_capacity": 90,
			"begin_time": 1234567890123,
			"end_time": 1234567890123
		},
		"rth_altitude": 100,
		"task_type": 2,
		"wayline_type": 1,
		"simulate_mission": {
			"is_enable": 1,
			"latitude": 22.1223,
			"longitude": 113.2222
		}
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_prepare"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_prepare"
}

Execute mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	Mission ID	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxx"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_execute"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_execute"
}

Cancel mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
flight_ids	Mission ID	array	{"size": }
»[array_item]	Elements in array	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_ids": [
			"aaaaaaa",
			"bbbbbbb"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_undo"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_undo"
}

Pause mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_pause

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_pause"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_pause

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_pause"
}

Resume mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_recovery

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_recovery"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_recovery

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_recovery"
}

One-key RTH

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error
output	Output	struct
»status	Mission state	enum_string	{"sent":"sent","in_progress":"in progress","ok":"succeeded","paused":"paused","rejected":"rejected","failed":"failed","canceled":"canceled or terminated","timeout":"timeout"}

Cancel RTH

After returning to home, the aircraft will exit the wayline mode. At this point, if the return-to-home command is canceled, the aircraft will hover.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home_cancel

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home_cancel"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home_cancel

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-0 means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home_cancel"
}

Requests

Mission Resource Get

Topic: thing/product/{gateway_sn}/requests

Direction: up

Method: flighttask_resource_get

Data:

Column	Name	Type	constraint	Description
flight_id	Mission ID	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxx"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_resource_get"
}

Topic: thing/product/{gateway_sn}/requests_reply

Direction: down

Method: flighttask_resource_get

Data:

Column	Name	Type	Description
result	Return Code	int	Non-0 means error
output	Output	struct
»file	Wayline file object	struct
»»url	File URL	text
»»fingerprint	File Signature	text	File MD5 Signature

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"output": {
			"file": {
				"fingerprint": "signxxxx",
				"url": "https://xx.oss-cn-hangzhou.aliyuncs.com/xx.kmz?Expires=xx&OSSAccessKeyId=xxx&Signature=xxx"
			}
		},
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_resource_get"
}

wayline

# Event

# Notification of device exits the Return to Home (RTH) state

# Report wayline task progress

# Notification of task readiness

# Return-to-home information

# Service

# Create wayline task (Deprecated)

# Issue mission

# Execute mission

# Cancel mission

# Pause mission

# Resume mission

# One-key RTH

# Cancel RTH

# Requests

# Mission Resource Get

Event

Notification of device exits the Return to Home (RTH) state

Report wayline task progress

Notification of task readiness

Return-to-home information

Service

Create wayline task (Deprecated)

Issue mission

Execute mission

Cancel mission

Pause mission

Resume mission

One-key RTH

Cancel RTH

Requests

Mission Resource Get