40.remote-control
Event
飞行器状态信息上报
seq是递增的序号，保证指令顺序执行，与data同级
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: drc_drone_state_push
Data:
stealth_state
隐蔽模式状态
bool
{"0":"关闭","1":"开启"}
night_lights_state
夜航灯状态
bool
{"0":"关闭","1":"开启"}
mode_code
飞行器状态
enum_int
{"0":"待机","1":"起飞准备","2":"起飞准备完毕","3":"手动飞行","4":"自动起飞","5":"航线飞行","6":"全景拍照","7":"智能跟随","8":"ADS-B 躲避","9":"自动返航","10":"自动降落","11":"强制降落","12":"三桨叶降落","13":"升级中","14":"未连接","15":"APAS","16":"虚拟摇杆状态","17":"指令飞行"}
Example:
{
"data": {
"mode_code": 0,
"night_lights_state": 0,
"stealth_state": 0
},
"method": "drc_drone_state_push",
"seq": 1
}摄像头osd 推送
用于推送摄像头参数信息（seq是递增的序号，保证指令顺序执行，与data同级）
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: drc_camera_osd_info_push
Data:
wide_lense
广角镜头信息
struct
»wide_exposure_mode
广角镜头曝光模式
enum_int
{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}
当前配置的广角镜头曝光模式
»wide_iso
广角镜头感光度
enum_int
{"0":"Auto","1":"Auto(High Sense)","2":"50","3":"100","4":"200","5":"400","6":"800","7":"1600","8":"3200","9":"6400","10":"12800","11":"25600","255":"FIXED"}
当前配置的广角镜头感光度
»wide_shutter_speed
广角镜头快门速度
enum_int
{"0":"1/8000 s","1":"1/6400 s","2":"1/6000 s","3":"1/5000 s","4":"1/4000 s","5":"1/3200 s","6":"1/3000 s","7":"1/2500 s","8":"1/2000 s","9":"1/1600 s","10":"1/1500 s","11":"1/1250 s","12":"1/1000 s","13":"1/800 s","14":"1/725 s","15":"1/640 s","16":"1/500 s","17":"1/400 s","18":"1/350 s","19":"1/320 s","20":"1/250 s","21":"1/240 s","22":"1/200 s","23":"1/180 s","24":"1/160 s","25":"1/125 s","26":"1/120 s","27":"1/100 s","28":"1/90 s","29":"1/80 s","30":"1/60 s","31":"1/50 s","32":"1/40 s","33":"1/30 s","34":"1/25 s","35":"1/20 s","36":"1/15 s","37":"1/12.5 s","38":"1/10 s","39":"1/8 s","40":"1/6.25 s","41":"1/5 s","42":"1/4 s","43":"1/3 s","44":"1/2.5 s","45":"1/2 s","46":"1/1.67 s","47":"1/1.25 s","48":"1.0 s","49":"1.3 s","50":"1.6 s","51":"2.0 s","52":"2.5 s","53":"3.0 s","54":"3.2 s","55":"4.0 s","56":"5.0 s","57":"6.0 s","58":"7.0 s","59":"8.0 s","65534":"Auto"}
当前配置的广角镜头快门速度
»wide_exposure_value
广角镜头曝光值
enum_int
{"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"}
当前配置的广角镜头曝光值
»wide_aperture_value
光圈值
enum_int
{"280":"F2.8","320":"F3.2","350":"F3.5","400":"F4","450":"F4.5","500":"F5","560":"F5.6","630":"F6.3","710":"F7.1","800":"F8","900":"F9","1000":"F10","1100":"F11"}
zoom_lense
变焦镜头信息
struct
»zoom_exposure_mode
变焦镜头曝光模式
enum_int
{"1":"自动","2":"快门优先曝光","3":"光圈优先曝光","4":"手动曝光"}
当前配置的变焦镜头曝光模式
»zoom_iso
变焦镜头感光度
enum_int
{"0":"Auto","1":"Auto(High Sense)","2":"50","3":"100","4":"200","5":"400","6":"800","7":"1600","8":"3200","9":"6400","10":"12800","11":"25600","255":"FIXED"}
当前配置的变焦镜头感光度
»zoom_shutter_speed
变焦镜头快门速度
enum_int
{"0":"1/8000 s","1":"1/6400 s","2":"1/6000 s","3":"1/5000 s","4":"1/4000 s","5":"1/3200 s","6":"1/3000 s","7":"1/2500 s","8":"1/2000 s","9":"1/1600 s","10":"1/1500 s","11":"1/1250 s","12":"1/1000 s","13":"1/800 s","14":"1/725 s","15":"1/640 s","16":"1/500 s","17":"1/400 s","18":"1/350 s","19":"1/320 s","20":"1/250 s","21":"1/240 s","22":"1/200 s","23":"1/180 s","24":"1/160 s","25":"1/125 s","26":"1/120 s","27":"1/100 s","28":"1/90 s","29":"1/80 s","30":"1/60 s","31":"1/50 s","32":"1/40 s","33":"1/30 s","34":"1/25 s","35":"1/20 s","36":"1/15 s","37":"1/12.5 s","38":"1/10 s","39":"1/8 s","40":"1/6.25 s","41":"1/5 s","42":"1/4 s","43":"1/3 s","44":"1/2.5 s","45":"1/2 s","46":"1/1.67 s","47":"1/1.25 s","48":"1.0 s","49":"1.3 s","50":"1.6 s","51":"2.0 s","52":"2.5 s","53":"3.0 s","54":"3.2 s","55":"4.0 s","56":"5.0 s","57":"6.0 s","58":"7.0 s","59":"8.0 s","65534":"Auto"}
当前配置的变焦镜头快门速度
»zoom_exposure_value
变焦镜头曝光值
enum_int
{"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"}
当前配置的变焦镜头曝光值
»zoom_focus_mode
变焦镜头对焦模式
enum_int
{"0":"MF","1":"AFS","2":"AFC"}
»zoom_focus_value
变焦镜头对焦值
int
»zoom_max_focus_value
变焦镜头最大对焦值
int
»zoom_min_focus_value
变焦镜头最小对焦值
int
»zoom_calibrate_farthest_focus_value
变焦镜头标定的最远对焦值
int
最清晰的最远位置对焦值
»zoom_calibrate_nearest_focus_value
变焦镜头标定的最近对焦值
int
最清晰的最近位置对焦值
»zoom_focus_state
变焦镜头对焦状态
int
»zoom_factor
变焦倍数
int
»zoom_aperture_value
变焦光圈值
enum_int
{"440":"F4.4"}
measure_target
目标测距和测高
struct
»measure_target_longitude
激光测距目标经度
double
{"max":"180","min":"-180","unit":"度 / °"}
»measure_target_latitude
激光测距目标纬度
double
{"max":"90","min":"-90","unit":"度 / °"}
»measure_target_altitude
激光测距目标海拔
double
{"unit":"米 / m"}
»measure_target_distance
激光测距距离
double
{"unit":"米 / m"}
ir_lense
红外信息
struct
»screen_split_enable
分屏是否使能
bool
{"false":"分屏使能关闭","true":"分屏使能开启"}
»ir_zoom_factor
红外变焦倍数
float
{"max":20,"min":2}
红外变焦倍数
»thermal_supported_palette_styles
设备支持的调色盘样式集合
array
{"size": -, "item_type": enum_int}
不同设备所支持的样式能力有所不同
»thermal_gain_mode
增益模式
enum_int
{"0":"自动","1":"低增益, 测温范围0°C-500°C","2":"高增益, 测温范围-20°C-150°C"}
低增益提供更大的测温范围，高增益拥有更高的测温精度
»thermal_isotherm_state
是否开启等温线
enum_int
{"0":"关闭","1":"开启"}
等温线允许用户观测自己感兴趣的温度区间的内容，让兴趣温度区间的物体能更加凸显
»thermal_isotherm_upper_limit
测温区间上限
int
{"unit":"摄氏度 / °C"}
仅启用等温线功能后有效
»thermal_isotherm_lower_limit
测温区间下限
int
{"unit":"摄氏度 / °C"}
仅启用等温线功能后有效
»thermal_global_temperature_min
全局画面中测量的最低温度
float
{"unit":"摄氏度 / °C"}
»thermal_global_temperature_max
全局画面中测量的最高温度
float
{"unit":"摄氏度 / °C"}
liveview
直播视图区域信息
struct
»liveview_world_region
视场角（FOV）在 liveview 中的区域
struct
变焦相机的视场角相对于广角相机或者红外相机的视场角，在 liveview 中会有所不同。坐标原点为镜头左上角。
»»left
左上角的 x 轴起始点
float
左上角的 x 轴起始点
»»top
左上角的 y 轴起始点
float
左上角的 y 轴起始点
»»right
右下角的 x 轴起始点
float
右下角的 x 轴起始点
»»bottom
右下角的 y 轴起始点
float
右下角的 y 轴起始点
Example:
{
"data": {
"ir_lense": {
"ir_zoom_factor": 2,
"screen_split_enable": false,
"thermal_current_palette_style": 11,
"thermal_gain_mode": 2,
"thermal_global_temperature_max": 40.0373764038086,
"thermal_global_temperature_min": 31.65154457092285,
"thermal_isotherm_lower_limit": -20,
"thermal_isotherm_state": 0,
"thermal_isotherm_upper_limit": 150
},
"liveview": {
"liveview_world_region": {
"bottom": 0.5609484910964966,
"left": 0.43238765001297,
"right": 0.5639060735702515,
"top": 0.433199942111969
}
},
"measure_target": {
"measure_target_altitude": 34.60000228881836,
"measure_target_distance": 0,
"measure_target_error_state": 1,
"measure_target_latitude": 22.907619920797877,
"measure_target_longitude": 113.70345426744846
},
"payload_index": "81-0-0",
"wide_lense": {
"wide_aperture_value": 10,
"wide_exposure_mode": 1,
"wide_exposure_value": 16,
"wide_iso": 8,
"wide_shutter_speed": 45
},
"zoom_lense": {
"zoom_aperture_value": 10,
"zoom_calibrate_farthest_focus_value": 34,
"zoom_calibrate_nearest_focus_value": 64,
"zoom_exposure_mode": 1,
"zoom_exposure_value": 16,
"zoom_factor": 6.999994214380596,
"zoom_focus_mode": 0,
"zoom_focus_state": 0,
"zoom_focus_value": 34,
"zoom_iso": 8,
"zoom_max_focus_value": 64,
"zoom_min_focus_value": 33,
"zoom_shutter_speed": 45
}
},
"method": "drc_camera_osd_info_push",
"seq": 1
}Service
进入DRC链路
DRC链路配置下发（seq是递增的序号，保证指令顺序执行，与data同级）
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drc_mode_enter
Data:
mqtt_broker
DRC 连接信息
struct
下发DRC链路配置，mqtt
»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
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":null}
设置 OSD 上报频率
hsi_frequency
HSI 频率
int
{"max":30,"min":1,"step":"","unit_name":null}
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}/drc/up
Direction: up
Method: drc_mode_enter
Data:
result
返回码
int
非 0 代表错误，异常case：没有飞行控制权，没有虚拟摇杆权限，数据包序号不对
Example:
{
"data": {
"result": 0
},
"method": "drc_mode_enter",
"seq": 1
}drc初始状态订阅
seq是递增的序号，保证指令顺序执行，与data同级
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drc_initial_state_subscribe
Data:
null
null
double
Example:
{
"data": {},
"method": "drc_initial_state_subscribe",
"seq": 1
}Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: drc_initial_state_subscribe
Data:
result
返回码
int
非 0 代表错误
Example:
{
"data": {
"result": 0
},
"method": "drc_initial_state_subscribe",
"seq": 1
}Last updated