30.drc
Event
请求授权结果通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: cloud_control_auth_notify
Data:
result
返回码
int
非0代表错误
output
输出
struct
»status
任务状态
enum_string
{"canceled":"有其他用户发起授权请求弹窗，本次弹窗被取消。","failed":"错误或者用户拒绝","ok":"用户同意"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"status": "ok"
},
"result": 0
},
"method": "cloud_control_auth_notify",
"need_reply": 0,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1704038400000
}DRC 链路状态通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: drc_status_notify
Data:
result
返回码
int
非 0 代表错误
drc_state
DRC 状态
enum_int
{"0":"未连接","1":"连接中","2":"已连接"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"drc_state": 2,
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_status_notify"
}上报拍照进度
当拍照行为需持续进行时会通过该事件上报进度。目前仅支持：全景拍照模式
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: camera_photo_take_progress
Data:
output
输出
struct
»status
拍照状态
enum_string
{"fail":"失败","in_progress":"执行中","ok":"完成"}
»progress
进度
struct
»»current_step
执行步骤
enum_int
{"3000":"全景图拍摄未开始或者已结束","3002":"全景图正在拍摄","3005":"全景图合成中"}
»»percent
进度值
int
{"max":"100","min":"0","step":"1"}
»ext
扩展内容
struct
»»camera_mode
当前相机模式
enum_int
{"3":"全景拍照"}
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"ext": {
"camera_mode": 3
},
"progress": {
"current_step": 0,
"percent": 100
},
"status": "ok"
},
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_photo_take_progress"
}Service
释放云端控制
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: cloud_control_release
Data:
control_keys
控制权列表
array
{"size": 1, "item_type": text}
需要释放的控制权列表。“flight”代表飞行控制权。
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"control_keys": [
"flight"
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1704038400000,
"method": "cloud_control_release"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: cloud_control_release
Data:
result
返回码
int
非0代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"status": "ok"
},
"result": 0
},
"method": "cloud_control_release",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1704038400000
}请求授权云端控制
请求后，遥控器会出现“请求授权”的弹窗。
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: cloud_control_auth_request
Data:
user_id
用户ID
text
请求授权的云端用户ID。
user_callsign
用户呼号
text
请求授权的云端用户昵称。
control_keys
控制权的键
array
{"size": 1, "item_type": text}
请求飞行控制权，请填写“flight”。
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"user_id": "xxxxxxxxxxx",
"user_callsign": "xxxxxxx",
"control_keys": [
"flight"
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1704038400000,
"method": "cloud_control_auth_request"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: cloud_control_auth_request
Data:
result
返回码
int
非0代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"status": "ok"
},
"result": 0
},
"method": "cloud_control_auth_request",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1704038400000
}退出指令控制模式
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_exit"
}进入指令控制模式
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: drc_mode_enter
Data:
mqtt_broker
Broker 连接信息
struct
获取 MQTT 中继服务的地址与认证信息
»address
服务器连接地址
text
服务器连接地址，例如：192.0.2.1:8883, mqtt.dji.com:8883
»client_id
客户端 ID
text
可自定义的 MQTT 客户端 ID。建议使用设备的 SN 码，也可以与具有语义的前缀组合，例如，drc-4J4R101
»username
用户名
text
建立连接时使用的用户名
»password
密码
text
建立连接时认证所需要的密码
»expire_time
认证信息过期时间
int
{"unit_name":"秒 / s"}
在有效期内认证信息可以重复使用，另外认证信息过期后，并不会影响已建立连接的设备
»enable_tls
是否启用 TLS
bool
启用 TLS 即对 MQTT 链路开启加密
osd_frequency
OSD 频率
int
{"max":30,"min":1,"step":"","unit_name":"赫兹 / Hz"}
设置 OSD 上报频率
hsi_frequency
HSI 频率
int
{"max":30,"min":1,"step":"","unit_name":"赫兹 / Hz"}
设置 HSI 上报频率
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"hsi_frequency": 1,
"mqtt_broker": {
"address": "mqtt.dji.com:8883",
"client_id": "sn_a",
"enable_tls": true,
"expire_time": 1672744922,
"password": "jwt_token",
"username": "sn_a_username"
},
"osd_frequency": 10
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_enter"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: drc_mode_enter
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_enter"
}负载控制—切换相机模式
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_mode_switch
Data:
camera_mode
相机模式
enum_int
{"0":"拍照","1":"录像","2":"智能低光","3":"全景拍照"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_mode": 0,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_mode_switch"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_mode_switch
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_mode_switch"
}负载控制—开始录像
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_recording_start
Data:
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_recording_start"
}负载控制—停止录像
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_recording_stop
Data:
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_recording_stop"
}负载控制—画面拖动控制
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_screen_drag
Data:
locked
机头和云台的相对关系是否锁定
bool
{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
pitch_speed
云台 pitch 速度
double
{"unit_name":"弧度每秒 / rad/s"}
云台 pitch 速度
yaw_speed
云台 yaw 速度
double
{"unit_name":"弧度每秒 / rad/s"}
云台 yaw 速度，仅不锁机头时才生效
Example:
{
"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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_screen_drag"
}负载控制—双击成为 AIM
双击 aim 功能为在相机镜头的视野范围内，双击镜头中的目标点，该目标点将成为镜头视野的中心
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_aim
Data:
camera_type
相机类型
enum_string
{"ir":"红外","wide":"广角","zoom":"变焦"}
相机类型枚举
locked
机头和云台的相对关系是否锁定
bool
{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
x
目标坐标 x
double
{"max":1,"min":0}
目标坐标 x，以镜头的左上角为坐标中心点，水平方向为 x
y
目标坐标 y
double
{"max":1,"min":0}
目标坐标 y，以镜头的左上角为坐标中心点，竖直方向为 y
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"locked": true,
"payload_index": "39-0-7",
"x": 0.5,
"y": 0.5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_aim"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_aim
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_aim"
}负载控制—变焦
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_focal_length_set
Data:
camera_type
相机类型
enum_string
{"ir":"红外","wide":"广角","zoom":"变焦"}
相机类型枚举
zoom_factor
变焦倍数
double
{"max":200,"min":2}
变焦倍数，可见光是2-200，红外是2-20
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"payload_index": "39-0-7",
"zoom_factor": 5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focal_length_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_focal_length_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focal_length_set"
}负载控制—重置云台
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: gimbal_reset
Data:
reset_mode
重置模式类型
enum_int
{"0":"回中","1":"向下","2":"偏航回中","3":"俯仰向下"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "39-0-7",
"reset_mode": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "gimbal_reset"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: gimbal_reset
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "gimbal_reset"
}负载控制—Look At
lookat 功能指飞行器将从当前朝向转向实际经纬高度指定的点，在 M30/M30T 机型上建议使用锁定机头的方式，仅云台转动场景下在抵达云台限位角后 lookat 功能将出现异常
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_look_at
Data:
locked
机头和云台的相对关系是否锁定
bool
{"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"}
latitude
目标点纬度(角度值)
double
{"max":90,"min":-90}
角度值。南纬是负，北纬是正，精度到小数点后6位。
longitude
目标点经度(角度值)
double
{"max":180,"min":-180}
角度值。东经是正，西经是负，精度到小数点后6位。
height
目标点高度
float
{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}
目标点高度（椭球高）
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"height": 100,
"latitude": 12.23,
"locked": true,
"longitude": 12.23,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_look_at"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_look_at
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_look_at"
}负载控制—分屏
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_screen_split
Data:
enable
是否使能分屏
bool
开启还是关闭分屏
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"enable": true,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_screen_split"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_screen_split
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_screen_split"
}负载控制—红外测温区域设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: ir_metering_area_set
Data:
x
测温区域左上角点坐标 x
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，水平方向为 x
y
测温区域左上角点坐标 y
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，竖直方向为 y
width
测温区域宽度
double
{"max":1,"min":"","step":"","unit_name":null}
height
测温区域高度
double
{"max":1,"min":"","step":"","unit_name":null}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"height": 0.5,
"payload_index": "39-0-7",
"width": 0.5,
"x": 0.5,
"y": 0.5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_area_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: ir_metering_area_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_area_set"
}负载控制—红外测温点设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: ir_metering_point_set
Data:
x
测温点坐标 x
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，水平方向为 x
y
测温点坐标 y
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，竖直方向为 y
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "39-0-7",
"x": 0.5,
"y": 0.5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_point_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: ir_metering_point_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_point_set"
}负载控制—红外测温模式设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: ir_metering_mode_set
Data:
mode
测温模式
enum_int
{"0":"关闭测温","1":"点测温","2":"区域测温"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"mode": 1,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_mode_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: ir_metering_mode_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "ir_metering_mode_set"
}负载控制—点对焦
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_point_focus_action
Data:
camera_type
相机类型
enum_string
{"wide":"广角","zoom":"变焦"}
相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
x
对焦点坐标 x
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，水平方向为 x
y
对焦点坐标 y
double
{"max":1,"min":"","step":"","unit_name":null}
以镜头的左上角为坐标中心点，竖直方向为 y
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"payload_index": "39-0-7",
"x": 0.5,
"y": 0.5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_point_focus_action"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_point_focus_action
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_point_focus_action"
}负载控制—相机对焦值设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_focus_value_set
Data:
camera_type
相机类型
enum_string
{"wide":"广角","zoom":"变焦"}
相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_value
对焦值
int
对焦值，范围参见飞行器物模型属性 zoom_max_focus_value 和 zoom_min_focus_value
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"focus_value": 5,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focus_value_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_focus_value_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focus_value_set"
}负载控制—相机对焦模式设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_focus_mode_set
Data:
camera_type
相机类型
enum_string
{"wide":"广角","zoom":"变焦"}
相机类型枚举，注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数
focus_mode
对焦模式
enum_int
{"0":"MF","1":"AFS","2":"AFC"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"focus_mode": 1,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focus_mode_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_focus_mode_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focus_mode_set"
}负载控制—相机曝光值调节
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_exposure_set
Data:
camera_type
相机类型
enum_string
{"wide":"广角","zoom":"变焦"}
exposure_value
曝光值
enum_string
{"1":"-5.0EV","2":"-4.7EV","3":"-4.3EV","4":"-4.0EV","5":"-3.7EV","6":"-3.3EV","7":"-3.0EV","8":"-2.7EV","9":"-2.3EV","10":"-2.0EV","11":"-1.7EV","12":"-1.3EV","13":"-1.0EV","14":"-0.7EV","15":"-0.3EV","16":"0EV","17":"0.3EV","18":"0.7EV","19":"1.0EV","20":"1.3EV","21":"1.7EV","22":"2.0EV","23":"2.3EV","24":"2.7EV","25":"3.0EV","26":"3.3EV","27":"3.7EV","28":"4.0EV","29":"4.3EV","30":"4.7EV","31":"5.0EV","255":"FIXED"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"exposure_value": 5,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_exposure_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_exposure_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_exposure_set"
}负载控制—相机曝光模式设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_exposure_mode_set
Data:
camera_type
相机类型
enum_string
{"wide":"广角","zoom":"变焦"}
相机类型枚举
exposure_mode
曝光模式
enum_int
{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"exposure_mode": 1,
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_exposure_mode_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_exposure_mode_set
Data:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_exposure_mode_set"
}负载控制—停止拍照
停止拍照指令，目前仅支持全景拍照模式
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_photo_stop
Data:
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_photo_stop"
}负载控制—开始拍照
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_photo_take
Data:
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:
result
返回码
int
非 0 代表错误
status
任务状态
enum_string
{"in_progress":"执行中"}
当全景拍照或其他持续性拍照行为时会上报状态信息，表达后续会有持续的进度事件上报，详细内容请查看 camera_photo_take_progress 事件
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"status": "in_progress"
},
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_photo_take"
}Requests
DRC-心跳
与 data 同级的 seq 是递增的序号，保证指令顺序执行
Topic: thing/product/{gateway_sn}/drc/down
Direction: up
Method: heart_beat
Data:
seq
【废弃】命令序号
int
递增的序号，保证指令顺序执行
timestamp
心跳发送时间戳
int
{"unit_name":"毫秒 / ms"}
业务方可以通过心跳协议判断 DRC 链路是否活跃，若一定期间未收到心跳回应可以判定 DRC 链路异常，对于 DRC 异常情况可以发起重试。若超过 1 分钟未收到业务方发送心跳协议，设备将会认为 DRC 链路处于空闲退出 DRC 链路。
Example:
{
"data": {
"seq": 10,
"timestamp": 1670415891013
},
"method": "heart_beat",
"seq": 1
}Topic: thing/product/{gateway_sn}/drc/up
Direction: down
Method: heart_beat
Data:
seq
【废弃】命令序号
int
递增的序号，保证指令顺序执行
timestamp
心跳发送时间戳
int
{"unit_name":"毫秒 / ms"}
业务方可以通过心跳协议判断 DRC 链路是否活跃，若一定期间未收到心跳回应可以判定 DRC 链路异常，对于 DRC 异常情况可以发起重试。若超过 1 分钟未收到业务方发送心跳协议，设备将会认为 DRC 链路处于空闲退出 DRC 链路。
Example:
{
"data": {
"seq": 10,
"timestamp": 1670415891013
},
"method": "heart_beat",
"seq": 1
}DRC-避障信息上报
Topic: thing/product/{gateway_sn}/drc/down
Direction: up
Method: hsi_info_push
Data:
up_distance
上方的障碍物距离
int
{"max":"","min":"","step":"","unit_name":"毫米 / mm"}
上方的障碍物距离
down_distance
下方的障碍物距离
int
{"max":"","min":"","step":"","unit_name":"毫米 / mm"}
下方的障碍物距离
up_enable
上视避障开关状态
bool
{"0":"关闭","1":"开启"}
上视避障开关状态
up_work
上视避障工作状态
bool
{"0":"关闭","1":"开启"}
上视避障工作状态
down_enable
下视避障开关状态
bool
{"0":"关闭","1":"开启"}
下视避障开关状态
down_work
下视避障工作状态
bool
{"0":"关闭","1":"开启"}
下视避障工作状态
around_distances
周边的障碍物距离
array
{"size": -, "item_type": int}
周边的障碍物距离
left_enable
左视避障开关状态
bool
{"0":"关闭","1":"开启"}
left_work
左视避障工作状态
bool
{"0":"关闭","1":"开启"}
right_enable
右视避障开关状态
bool
{"0":"关闭","1":"开启"}
right_work
右视避障工作状态
bool
{"0":"关闭","1":"开启"}
front_enable
前视避障开关状态
bool
{"0":"关闭","1":"开启"}
front_work
前视避障工作状态
bool
{"0":"关闭","1":"开启"}
back_enable
后视避障开关状态
bool
{"0":"关闭","1":"开启"}
back_work
后视避障工作状态
bool
{"0":"关闭","1":"开启"}
vertical_enable
垂直避障开关状态
bool
{"0":"关闭","1":"开启"}
vertical_work
垂直避障工作状态
bool
{"0":"关闭","1":"开启"}
horizontal_enable
水平避障开关状态
bool
{"0":"关闭","1":"开启"}
horizontal_work
水平避障工作状态
bool
{"0":"关闭","1":"开启"}
Example:
{
"data": {
"around_distance": [
10,
8,
9,
16,
2
],
"back_enable": true,
"back_work": true,
"down_distance": 10,
"down_enable": true,
"down_work": true,
"front_enable": true,
"front_work": true,
"horizontal_enable": true,
"horizontal_work": true,
"left_enable": true,
"left_work": true,
"right_enable": true,
"right_work": true,
"up_distance": 10,
"up_enable": true,
"up_work": true,
"vertical_enable": true,
"vertical_work": true
},
"timestamp": 1670415891013,
"method": "hsi_info_push"
}Topic: thing/product/{gateway_sn}/drc/up
Direction: down
Method: hsi_info_push
Data: null
DRC-图传链路延时信息上报
Topic: thing/product/{gateway_sn}/drc/down
Direction: up
Method: delay_info_push
Data:
sdr_cmd_delay
图传协议命令链路延时
int
{"unit_name":"毫秒 / ms"}
图传协议命令链路延时
liveview_delay_list
图传视频码流延时
array
{"size": -, "item_type": struct}
图传视频码流延时，多路码流
»video_id
码流编号
text
码流编号
»liveview_delay_time
码流延时
int
{"unit_name":"毫秒 / ms"}
码流延时
Example:
{
"data": {
"liveview_delay_list": [
{
"liveview_delay_time": 60,
"video_id": "1581BN210004555439234/52-0-0/normal-0"
},
{
"liveview_delay_time": 80,
"video_id": "1581BN210004555439234/53-0-0/normal-0"
}
],
"sdr_cmd_delay": 10
},
"timestamp": 1670415891013,
"method": "delay_info_push"
}Topic: thing/product/{gateway_sn}/drc/up
Direction: down
Method: delay_info_push
Data: null
Example:
{
"method": "delay_info_push"
}Last updated