50.wayline
Event
设备返航退出状态通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: device_exit_homing_notify
Data:
sn
机场 SN
text
{}
action
退出返航通知消息类型
enum_int
{"0":"退出”返航退出状态“","1":"进入”返航退出状态“"}
进入“返航退出状态”，指当机场处于返航模式时，由于 reason 字段中展示的原因，退出了返航过程。相似的，退出“返航退出状态”，指机场停止了退出返航这一过程。
reason
退出返航原因
enum_int
{"0":"操纵杆油门添加","1":"操纵杆间距添加","2":"行为树初始化失败","3":"被障碍物包围","4":"触发限飞限制","5":"障碍物距离太近","6":"无 GPS 信号","7":"GPS 和 VIO 位置输出标志为 false","8":"GPS 和 VIO 融合位置误差太大","9":"短距离回溯","10":"近距离触发返航"}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"action": 1,
"reason": "0",
"sn": "机场 SN"
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "device_exit_homing_notify"
}上报航线任务进度
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: flighttask_progress
Data:
ext
扩展内容
struct
»current_waypoint_index
当前执行到的航点数
int
»wayline_mission_state
航线任务状态
enum_int
{"0":"断连","1":"不支持该航点","2":"航线准备状态,可上传文件,可执行已有文件","3":"航线文件上传中","4":"触发开始命令，飞行器触发读航线等逻辑，还未开始任务，处于准备状态","5":"进入航线,到第一个航点","6":"航线执行","7":"航线中断，触发条件：1.用户主动暂停 2.飞控异常","8":"航线恢复","9":"航线结束"}
»media_count
本次航线任务执行产生的媒体文件数量
int
»track_id
航迹 ID
text
»flight_id
任务 ID
text
»break_point
航线断点信息
struct
可选字段，用于告知云端本次航线任务断点信息
»»index
断点序号
int
»»state
断点状态
enum_int
{"0":"在航段上","1":"在航点上"}
»»progress
当前航段进度
float
{"max":"1.0","min":"0"}
»»wayline_id
航线 ID
int
»»break_reason
中断原因
enum_int
{"0":"无异常","1":"Mission ID 不存在，该航线任务未执行","2":"不常见错误，建议联系技术支持","4":"请求开始/恢复航线任务时，航线文件加载出错，请重新尝试上传文件开始或联系技术支持","5":"请求查询断点信息时，查询断点文件失败。请求恢复航线任务时，解析断点类型失败","6":"请求开始/结束航线任务时，cmd参数有误，协议请求的指令有误。请求恢复航线任务时，解析断点类型失败","7":"请求开始/恢复航线任务时，解析 wpmz 文件超时，请重试","257":"航线已经开始，不能再次开始","258":"此状态下无法中断航线，只允许在航线执行状态时暂停航线","259":"航线未开始，不能结束航线","261":"飞行任务冲突，无法获取飞行器控制权，不允许在降落和返航中开始航线","262":"该状态下无法恢复航线，只允许在航线暂停状态时恢复航线","513":"飞行器超过限高高度","514":"飞行器超过限远距离","516":"飞行器触发限低","517":"飞行器触发避障","518":"RTK 信号差","519":"接近禁飞区边界","521":"超过机场限飞区限高","522":"航线请求起飞失败","523":"起飞任务执行失败","524":"请求航线任务失败","526":"请求航线 RTK 收敛任务失败","527":"航线 RTK 收敛任务运行失败","528":"接近用户自定义飞行区边界","769":"GPS 信号弱","770":"遥控器档位不在 N 档，无法开始任务","771":"返航点未刷新","772":"当前电量过低无法开始任务","773":"低电量返航导致航线中断","775":"遥控器与飞行器失联","778":"飞行器在地面起桨，不允许开始航线","779":"实时仿地过程中，视觉状态异常（如过亮，过暗，两侧亮度不一致）","780":"实时仿地用户设置的仿地高度不合法（大于 200 m 或者小于 30 m）","781":"实时仿地过程中全局地图计算出错","784":"大风返航导致航线中断","1281":"用户退出","1282":"用户中断","1283":"用户触发返航","1539":"开始信息（航点 index 或者 progress）错误","1540":"使用不支持的坐标系","1541":"使用不支持的高度模式","1542":"使用不支持的过渡航线模式","1543":"使用不支持的 yaw 模式","1544":"使用不支持的 yaw 方向调转模式","1545":"使用不支持的航点类型","1546":"首尾点不能使用协调转弯类型","1547":"航线全局速度超过合理范围","1548":"航点数量异常","1549":"经纬度数据异常","1550":"转弯截距异常","1551":"航段最大速度超过合理范围","1552":"航段目标速度超过合理范围","1553":"航点 yaw 角度超过合理范围","1555":"断点续飞的 mission_id 输入错误","1556":"断点续飞的 progress 信息输入错误","1557":"断点续飞的任务状态异常","1558":"断点续飞的航点 index 信息输入错误","1559":"断点续飞的经纬度信息输入错误","1560":"断点续飞的航点 yaw 输入错误","1561":"断点续飞的标志位设置错误","1563":"航线生成失败","1564":"航线运行失败","1565":"航线避障紧急刹停","1588":"无法识别的动作类型","1595":"同一动作组内动作 ID 不能重复","1598":"动作 ID 值不能为 65535","1602":"动作组数量超过合理范围","1603":"动作组生效范围错误","1606":"断点续飞中动作 index 超过合理范围","1608":"断点信息中触发器运行结果异常","1609":"断点续飞中动作组 ID 信息不能重复","1610":"断点续飞中动作组位置不能重复","1611":"断点续飞中动作组位置超过合理范围","1612":"续飞中动作 ID 不在断点信息中","1613":"续飞中不能修改动作状态为中断","1614":"断点信息错误导致续飞失败","1634":"无法识别的动作类型","1649":"无法识别的触发器类型","65534":"未知错误","65535":"未知错误"}
»»latitude
断点纬度
float
{"max":"90","min":"-90","unit_name":"度 / °"}
»»longitude
断点经度
float
{"max":"180","min":"-180","unit_name":"度 / °"}
»»height
断点相对地球椭球面高度
float
{"unit_name":"米 / m"}
»»attitude_head
断点偏航轴角度
float
偏航轴角度与真北角（经线）的角度，0到6点钟方向为正值，6到12点钟方向为负值
»wayline_id
当前在作业的航线 ID
int
包括进入航线的过渡阶段，例如0代表飞行器正在进入或者已经在执行第一条航线
status
任务状态
enum_string
{"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","partially_done":"部分完成","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"}
progress
进度
struct
»current_step
执行步骤
enum_int
{"0":"初始状态","1":"启动前检查，飞行器是否在执行航线中","2":"启动前检查，机场是否退出工作模式","3":"启动前检查，航线执行中","4":"启动前检查，返航中","5":"航线执行进入准备状态，开始等待任务下发","6":"机场进入工作状态","7":"进入开机检查准备工作和开盖准备工作","8":"等待飞行系统准备就绪，推送连接建立","9":"等待 RTK 源监听有值上报","10":"检查 RTK 源是否是机场源，如果不是要重新设置","11":"等待飞行控制权通知","12":"机场无控制权，抢夺行器控制权","13":"获取最新 KMZ URL","14":"下载 KMZ","15":"KMZ 上传中","16":"染色配置","17":"飞行器起飞参数设置，备降点设置，起飞高度设置，染色设置","18":"飞行器 flyto 起飞参数设置","19":"Home 点设置","20":"触发执行航线","21":"航线执行中","22":"进入返航的检查准备工作","23":"飞行器降落机场","24":"降落以后的关盖","25":"机场退出工作模式","26":"机场异常恢复","27":"机场上传飞行系统日志","28":"相机录像状态检查","29":"获取媒体文件数量","30":"机场起飞开盖的异常恢复","31":"通知任务结果","32":"任务执行完成，通过配置文件配置，是否进行主动 log 拉取","33":"日志列表拉取 - 飞行器列表","34":"日志列表拉取 - 拉取机场列表","35":"日志列表拉取 - 上传日志列表结果","36":"日志拉取-拉取飞行器日志","37":"日志拉取-拉取机场日志","38":"日志拉取-压缩飞行器日志","39":"日志拉取-压缩机场日志","40":"日志拉取-上传飞行器日志","41":"日志拉取-上传机场日志","42":"日志拉取-通知结果","0xFFFD":"结束后等待服务回包","0xFFFE":"无具体状态","0xFFFFF":"UNKNOWN"}
»percent
进度值
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,
"flight_id": "flight_id",
"media_count": 6,
"track_id": "track_id",
"wayline_id": 0,
"wayline_mission_state": 9
},
"progress": {
"current_step": 19,
"percent": 100
},
"status": "ok"
},
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_progress"
}任务就绪通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: flighttask_ready
Data:
flight_ids
计划 ID
array
{"size": -, "item_type": text}
当前满足任务就绪条件的任务 ID 集合
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"flight_ids": [
"aaaaaaa",
"bbbbbbb"
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_ready"
}返航信息
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: return_home_info
Data:
planned_path_points
规划的轨迹点列表
array
{"size": -, "item_type": struct}
飞行器实时规划的返航路线，数组中为一条完整的返航路线，每次推送为全量更新
»latitude
轨迹点纬度(角度值)
double
{"max":90,"min":-90}
轨迹点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude
轨迹点经度(角度值)
double
{"max":180,"min":-180}
轨迹点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height
轨迹点高度
float
{"step":0.1,"unit_name":"米 / m"}
轨迹点高度，椭球高
last_point_type
返航路径最后一个点的类型
enum_int
{"0":"轨迹最后一个点在返航点的上空","1":"轨迹最后一个点不在返航点上空"}
轨迹planned_path_points最后一个点的类型。可用此字段，决定轨迹最后一个点的显示方式。0：轨迹最后一个点在返航点的地面上空。终端可以显示轨迹最后一个点到返航点的连线；1：轨迹最后一个点不是返航点。终端不应显示轨迹最后一个点到返航点的连线。无法到达返航点的原因：返航点在禁飞区或障碍物内
flight_id
任务 ID
text
当前正在执行的航线任务 ID
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"flight_id": "abc",
"last_point_type": 0,
"planned_path_points": [
{
"height": 123.234,
"latitude": 13.23,
"longitude": 123.234
}
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "return_home_info"
}Service
创建航线任务（废弃）
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_create
Data:
flight_id
计划 ID
text
type
任务类型
text
file
航线文件对象
struct
»url
文件 URL
text
»sign
文件 MD5 签名
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:
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": "flighttask_create"
}下发任务
若用户的云服务无法访问外网，需实现 配置更新 功能，下发可被云服务访问的 NTP 服务的 URL，以实现时钟同步，否则航线任务将无法正常执行。
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_prepare
Data:
flight_id
计划 ID
text
execute_time
开始执行时间
int
{"length":13}
任务开始执行时间毫秒时间戳。可选字段。当 task_type 为 0 或 1 时必填，为 2 时非必填。
task_type
任务类型
enum_int
{"0":"立即任务","1":"定时任务","2":"条件任务"}
立即任务和定时任务均由 execute_time 指定执行时间。条件任务支持 ready_conditions 字段指定任务就绪条件。任务可在指定时间段内满足一定条件后即可执行。立即任务媒体上传优先级最高，定时任务和条件任务媒体上传优先级相同。
file
航线文件对象
struct
»url
文件 URL
text
»fingerprint
文件 MD5 签名
text
ready_conditions
任务就绪条件
struct
可选字段。条件任务（即 task_type 为2）时必填，其他类型任务会忽略该字段。下发条件任务后，设备会定频检查 ready_conditions 是否全部满足，若全部满足则会有 flighttask_ready 事件通知。且设备端接收 flighttask_execute 指令时，也会检查任务的 ready_conditions 是否已全部满足。
»battery_capacity
电池容量
int
可执行任务的飞行器电池电量百分比阈值，任务开始执行时的飞行器电量必须大于 battery_capacity。
»begin_time
任务可执行时段的开始时间
int
{"length":13}
任务可执行时段起始时间毫秒时间戳，任务开始执行的时间必须大于 begin_time。
»end_time
任务可执行时段的结束时间
int
{"length":13}
任务可执行时段截止时间毫秒时间戳，任务开始执行的时间必须小于 end_time。
executable_conditions
任务执行条件
struct
可选字段，用于在设备端增加任务执行的前置检查条件，存在任一条件不满足时会执行失败
»storage_capacity
存储容量
int
可执行任务的机场或飞行器最低存储容量，机场或飞行器存储容量不满足 storage_capacity 时，任务执行失败。
break_point
航线断点信息
struct
可选字段，用于断点续飞，若指定该字段，航线任务会从字段指定的断点位置开始执行。
»index
断点序号
int
»state
断点状态
enum_int
{"0":"在航段上","1":"在航点上"}
»progress
当前航段进度
float
{"max":"1.0","min":"0"}
»wayline_id
航线 ID
int
rth_altitude
返航高度
int
{"max":1500,"min":20,"unit_name":"米 / m"}
out_of_control_action
遥控器失控动作
enum_int
{"0":"返航","1":"悬停","2":"降落"}
失控动作，当前固定传的值是 0，即返航。注意该枚举值定义跟飞控跟机场定义的不一致，机场端会进行转换。
exit_wayline_when_rc_lost
航线失控动作
enum_int
{"0":"继续执行航线任务","1":"退出航线任务，执行遥控器失控动作"}
保持跟 KMZ 文件一致
simulate_mission
是否在模拟器中执行任务
struct
可选字段，用于在室内进行模拟任务调试。
»is_enable
是否开启模拟器任务
enum_int
{"0":"不开启","1":"开启"}
当次任务打开或关闭模拟器
»latitude
纬度
double
{"max":"90.0","min":"-90.0"}
»longitude
经度
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,
"exit_wayline_when_rc_lost": 0,
"file": {
"fingerprint": "xxxx",
"url": "https://xxx.com/xxxx"
},
"flight_id": "xxxxxxx",
"out_of_control_action": 0,
"ready_conditions": {
"battery_capacity": 90,
"begin_time": 1234567890123,
"end_time": 1234567890123
},
"rth_altitude": 100,
"simulate_mission": {
"is_enable": 1,
"latitude": 22.1223,
"longitude": 113.2222
},
"task_type": 2
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1234567890123,
"method": "flighttask_prepare"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_prepare
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": 1234567890123,
"method": "flighttask_prepare"
}执行任务
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_execute
Data:
flight_id
计划 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:
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": 1234567890123,
"method": "flighttask_execute"
}取消任务
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_undo
Data:
flight_ids
计划 ID
array
{"size": -, "item_type": 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:
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": 1234567890123,
"method": "flighttask_undo"
}航线暂停
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_pause"
}航线恢复
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:
result
返回码
int
非 0 代表错误
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_recovery"
}一键返航
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:
result
返回码
int
非 0 代表错误
output
输出
struct
»status
任务状态
enum_string
{"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"}
取消返航
返航后，飞行器会退出航线模式，此时取消返航，飞行器会悬停
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:
result
返回码
int
非 0 代表错误
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
任务资源获取
Topic: thing/product/{gateway_sn}/requests
Direction: up
Method: flighttask_resource_get
Data:
flight_id
计划 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:
result
返回码
int
非 0 代表错误
output
输出
struct
»file
航线文件对象
struct
»»url
文件 URL
text
»»fingerprint
文件 MD5 签名
text
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"
}Last updated