Event

Authorization result notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: cloud_control_auth_notify

Data:

Column	Name	Type	Constraint	Description
result	Return code	int	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an error
output	Output	struct
»status	Task state	enum_string	{"canceled":"Authorization request popup was canceled due to another user's request.","failed":"Error or user denied","ok":"User agreed"}

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
}

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	{"length":""}
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	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an error
way_point_index	Currently executing the nth waypoint	int	{"max":"","min":"","step":"","unit_name":null}
remaining_distance	Remaining mission distance	float	{"max":"","min":"","step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"max":"","min":"","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,"step":"","unit_name":null}	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,"step":"","unit_name":null}	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	{"max":"","min":"","step":"","unit_name":null}
flight_id	One-key takeoff mission UUID	text	{"length":""}
track_id	Track ID	text	{"length":""}
way_point_index	Currently executing the nth waypoint	int	{"max":"","min":"","step":"","unit_name":null}
remaining_distance	Remaining mission distance	float	{"max":"","min":"","step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"max":"","min":"","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,"step":"","unit_name":null}	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,"step":"","unit_name":null}	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	{"max":"","min":"","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	DRC status	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

When the photo-taking action needs to continue, progress will be reported through this event. Currently, only the panoramic photo mode is supported.

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":"In progress","ok":"Finished"}
»progress	Progress	struct
»»current_step	Executing result	enum_int	{"3000":"Capturing panorama has not started or is finished","3002":"Capturing panorama","3005":"Generating panorama"}
»»percent	Percent	int	{"max":"100","min":"0","step":"1"}
»ext	Expanded content	struct
»»camera_mode	Current camera mode	enum_int	{"3":"Panorama"}
result	Return code	int	{"max":"","min":"","step":"","unit_name":null}	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"
}

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 in the transmission protocol command link	int	{"max":"","min":"","step":"","unit_name":"milliseconds / ms"}	Delay in the transmission protocol command link
liveview_delay_list	Video transmission video stream delay	array	{"size": -, "item_type": struct}
»video_id	Stream number	text	{"length":""}	Stream number
»liveview_delay_time	Stream delay	int	{"max":"","min":"","step":"","unit_name":"milliseconds / ms"}	Stream delay

Example:

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

DRC-obstacle avoidance information pushing

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
up_distance	Upward obstacle distance	int	{"max":"","min":"","step":"","unit_name":"Millimeters / mm"}
down_distance	Downward obstacle distance	int	{"max":"","min":"","step":"","unit_name":"Millimeters / mm"}
up_enable	Upward obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
up_work	Upward obstacle sensing work state	bool	{"0":"Disable","1":"Enable"}
down_enable	Downward obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
down_work	Downward obstacle sensing work state	bool	{"0":"Disable","1":"Enable"}
around_distances	Distances to surrounding obstacles	array	{"size": -, "item_type": int}
left_enable	Left obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
left_work	Left obstacle sensing working state	bool	{"0":"Disable","1":"Enable"}
right_enable	Right obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
right_work	Right obstacle sensing working state	bool	{"0":"Disable","1":"Enable"}
front_enable	Forward obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
front_work	Forward obstacle sensing working state	bool	{"0":"Disable","1":"Enable"}
back_enable	Backward obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
back_work	Backward obstacle sensing working state	bool	{"0":"Disable","1":"Enable"}
vertical_enable	Vertical obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
vertical_work	Vertical obstacle sensing working state	bool	{"0":"Disable","1":"Enable"}
horizontal_enable	Horizontal obstacle sensing switch state	bool	{"0":"Disable","1":"Enable"}
horizontal_work	Horizontal obstacle sensing work state	bool	{"0":"Disable","1":"Enable"}

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"
}

Return home information

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: return_home_info

Data:

Column	Name	Type	Constraint	Description
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point (angle value)	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 (angle value)	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	{"max":"","min":"","step":0.1,"unit_name":"Meters / m"}	Trajectory point height, ellipsoid height
flight_id	Mission ID	text	{"length":""}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 107.91999816894531,
				"latitude": 22.591622374020517,
				"longitude": 114.00506408885121
			},
			{
				"height": 107.91999816894531,
				"latitude": 22.591547439806163,
				"longitude": 114.00506366975605
			}
		]
	},
	"gateway": "7XJDLC10010639",
	"method": "return_home_info",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1734446832046
}

Service

Request cloud control authorization

After the request, a "Request Authorization" pop-up will appear on the remote controller.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: cloud_control_auth_request

Data:

Column	Name	Type	Constraint	Description
user_id	User ID	text	{"length":""}	The user ID of the cloud user requesting authorization.
user_callsign	User Callsign	text	{"length":""}	The nickname of the cloud user requesting authorization.
control_keys	Control Keys	array	{ "size": 1, "item_type": text }	To request flight control authorization, please fill in "flight".

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: cloud_control_auth_request

Data:

Column	Name	Type	Constraint	Description
result	Return code	int	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an error

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
}

Release cloud control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: cloud_control_release

Data:

Column	Name	Type	Constraint	Description
control_keys	Control key list	array	{ "size": 1, "item_type": text }	List of control rights to be released. "Flight" represents flight control rights.

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: cloud_control_release

Data:

Column	Name	Type	Constraint	Description
result	Return code	int	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an error

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
}

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 SN code, or combine it with a semantic prefix, e.g., 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 (in degree values)	double	{"max":90,"min":-90,"step":"","unit_name":null}
target_longitude	Target point longitude (in degree values)	double	{"max":180,"min":-180,"step":"","unit_name":null}
target_height	Target point height	float	{"max":1500,"min":2,"step":0.1,"unit_name":"Meters / m"}
security_takeoff_height	Safe takeoff height	float	{"max":1500,"min":20,"step":0.1,"unit_name":"Meters / m"}
rth_mode	[Required] Return home mode setting value	enum_int	{"0":"Intelligent altitude","1":"Preset altitude"}
rth_altitude	Return home altitude	int	{"max":1500,"min":2,"step":1,"unit_name":"Meters / m"}
rc_lost_action	Remote controller lost control action	enum_int	{"0":"Hovering","1":"Landing","2":"Returning to home"}
commander_mode_lost_action	[Required] FlyTo task signal lost 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] FlyTo task mode value	enum_int	{"0":"Optimal height flight","1":"Preset height flight"}
commander_flight_height	[Required] FlyTo height	float	{"max":3000,"min":2,"step":0.1,"unit_name":"Meters / m"}
flight_id	One-key takeoff mission UUID	text	{"length":""}
max_speed	Achievable maximum speed during one-key takeoff	int	{"max":15,"min":1,"step":"","unit_name":"meters per second / m/s"}
simulate_mission	Whether to execute the mission in the simulator	struct
»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":"Disable","1":"Enable"}	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 open. 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": {
		"commander_flight_height": 80,
		"commander_mode_lost_action": 1,
		"flight_id": "ABDEAC21DCADDA",
		"flight_safety_advance_check": 1,
		"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
	},
	"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	{"max":"","min":"","step":"","unit_name":null}

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

Note: To ensure the flight safety, the min flight altitude of the aircraft is 20 m. If the altitude relative to the takeoff point is below 20 m, the aircraft will first ascend to 20 m.

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 (in degree values)	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 (in degree values)	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":"5","min":"-4","step":"","unit_name":"meters per second / m/s"}
points	Updated target points list	array	{"size": -, "item_type": struct}
»latitude	Longitude	double	{"max":"","min":"","step":"","unit_name":null}
»longitude	Longitude	double	{"max":"","min":"","step":"","unit_name":null}
»height	Height	float	{"max":"","min":"","step":"","unit_name":null}

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

One-key return

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Example:

{
	"bid": "f9f07aad-d1f1-4dc1-8ad0-a3417fd365cc",
	"data": null,
	"method": "return_home",
	"tid": "b103b00a-3fcc-476e-9cb6-bc5e27d2defd",
	"timestamp": 1734425015702
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	Constraint	Description
result	Return code	int	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an error

Example:

{
	"bid": "f9f07aad-d1f1-4dc1-8ad0-a3417fd365cc",
	"data": {
		"result": 0
	},
	"method": "return_home",
	"tid": "b103b00a-3fcc-476e-9cb6-bc5e27d2defd",
	"timestamp": 1734425014635
}

Cancel return

After returning home, the aircraft will exit the wayline mode. If return is canceled at this point, 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	{"max":"","min":"","step":"","unit_name":null}	Non-zero represents an 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"
}