110.drc
Event
flyto 执行结果事件通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: fly_to_point_progress
Data:
fly_to_id
飞向目标点 ID
text
status
状态
enum_string
{"wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
result
返回码
int
非 0 代表错误
way_point_index
当前执行到第几个航点
int
remaining_distance
剩余任务距离
float
{"step":0.1,"unit_name":"米 / m"}
remaining_time
剩余任务时间
float
{"step":0.1,"unit_name":"秒 / s"}
planned_path_points
规划的轨迹点列表
array
{"size": -, "item_type": struct}
»latitude
轨迹点纬度
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
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
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"
}一键起飞结果事件通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: takeoff_to_point_progress
Data:
status
任务状态
enum_string
{"task_finish":"一键起飞任务完成","task_ready":"准备起飞","wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
result
返回码
int
非 0 代表错误
flight_id
一键起飞任务 UUID
text
track_id
航迹 ID
text
way_point_index
当前执行到第几个航点
int
remaining_distance
剩余任务距离
float
{"step":0.1,"unit_name":"米 / m"}
remaining_time
剩余任务时间
float
{"step":0.1,"unit_name":"秒 / s"}
planned_path_points
规划的轨迹点列表
array
{"size": -, "item_type": struct}
»latitude
轨迹点纬度
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
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
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 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"
}Joystick 控制无效原因通知
Joystick 是一个无人机综合控制功能，若不可用，则无法使用 drone_control 能力，实现手动操控
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: joystick_invalid_notify
Data:
reason
任务状态
int
{"0":"遥控器失联","1":"低电量返航","2":"低电量降落","3":"靠近限飞区","4":"遥控器夺权（例如：触发了返航，B控夺权）"}
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"
}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
飞行控制权抢夺
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flight_authority_grab
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flight_authority_grab"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flight_authority_grab
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": "flight_authority_grab"
}负载控制权抢夺
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: payload_authority_grab
Data:
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "39-0-7"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "payload_authority_grab"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: payload_authority_grab
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": "payload_authority_grab"
}进入指令飞行控制模式
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,"unit_name":"赫兹 / Hz"}
设置 OSD 上报频率
hsi_frequency
HSI 频率
int
{"max":30,"min":1,"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"
}退出指令飞行控制模式
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"
}一键起飞
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: takeoff_to_point
Data:
target_latitude
目标点纬度
double
{"max":90,"min":-90}
目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
target_longitude
目标点经度
double
{"max":180,"min":-180}
目标点经度，角度值，东经是正，西经是负，精度到小数点后6位
target_height
目标点高度
float
{"max":1500,"min":2,"step":0.1,"unit_name":"米 / m"}
目标点高度（椭球高），使用 WGS84 模型，飞行器到点后默认行为：悬停
security_takeoff_height
安全起飞高度
float
{"max":1500,"min":20,"step":0.1,"unit_name":"米 / m"}
相对(机场)起飞点的高度（ALT），飞行器先升到特定的高度，然后再飞向目标点。
rth_mode
【必填】返航模式设置值
enum_int
{"0":"智能高度","1":"设定高度"}
智能返航模式下，飞行器将自动规划最佳返航高度。大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光），飞行器将使用您设定的返航高度进行直线返航
rth_altitude
返航高度
int
{"max":1500,"min":2,"step":1,"unit_name":"米 / m"}
相对(机场)起飞点的高度，相对高 ALT
rc_lost_action
遥控器失控动作
enum_int
{"0":"悬停","1":"着陆(降落)","2":"返航"}
遥控器失控动作
commander_mode_lost_action
【必填】指点飞行失控动作
enum_int
{"0":"继续执行指点飞行任务","1":"退出指点飞行任务，执行普通失控行为"}
commander_flight_mode
【必填】指点飞行模式设置值
enum_int
{"0":"智能高度飞行","1":"设定高度飞行"}
commander_flight_height
【必填】指点飞行高度
float
{"max":3000,"min":2,"step":0.1,"unit_name":"米 / m"}
相对(机场)起飞点的高度，相对高 ALT
flight_id
一键起飞任务 UUID
text
任务 UUID，全局唯一，用于染色，云端区分该值是普通计划任务还是一键起飞任务
max_speed
一键起飞的飞行过程中能达到的最大速度
int
{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
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": {
"commander_flight_height": 80,
"commander_mode_lost_action": 1,
"flight_id": "ABDEAC21DCADDA",
"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:
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": "takeoff_to_point"
}flyto 飞向目标点
特别说明：飞行器有最低飞行高度(20m)安全保障机制，如果飞行器相对起飞点高度低于20m，会先上升到20m
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: fly_to_point
Data:
fly_to_id
飞向目标点 ID
text
max_speed
flyto 的飞行过程中能达到的最大速度
int
{"max":15,"min":0,"unit_name":"米每秒 / m/s"}
points
flyto 目标点列表
array
{"size": -, "item_type": struct}
仅支持 1 个目标点
»latitude
目标点纬度
double
{"max":90,"min":-90}
目标点纬度，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
double
{"max":180,"min":-180}
目标点经度，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），使用 WGS84 模型
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:
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": "fly_to_point"
}结束 flyto 飞向目标点任务
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:
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": "fly_to_point_stop"
}更新 flyto 目标点
「一键起飞」或「flyto 飞向目标点」的过程中，可以通过该命令快速更新目标点
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: fly_to_point_update
Data:
max_speed
指令飞行过程中能达到的最大速度
int
{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
points
更新的目标点列表
array
{"size": -, "item_type": struct}
仅支持 1 个目标点
»latitude
目标点纬度
double
{"max":90,"min":-90}
目标点纬度，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
double
{"max":180,"min":-180}
目标点经度，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），使用 WGS84 模型
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:
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": "fly_to_point_update"
}负载控制-框选变焦
框选变焦功能为在相机镜头的视野范围内，框选镜头中的目标区域，将会自动把画面切过去自动变焦+转云台
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_frame_zoom
Data:
payload_index
相机枚举
text
camera_type
相机类型
enum_string
{"ir":"红外","wide":"广角","zoom":"变焦"}
locked
机头和云台的相对关系是否锁定
bool
{"0":"仅云台转，机身不转","1":"锁定机头，云台和机身一起转"}
x
目标框左上角点坐标x
float
{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
y
目标框左上角点坐标y
float
{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
width
目标框宽度
float
{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
height
目标框高度
float
{"max":"1","min":"0","step":"0.000001","unit_name":"无 / "}
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"height": 0.2,
"locked": true,
"payload_index": "39-0-7",
"width": 0.2,
"x": 0.5,
"y": 0.5
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_frame_zoom"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: camera_frame_zoom
Data:
result
返回码
int
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_frame_zoom"
}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
output
输出
struct
»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": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_photo_take"
}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"}
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
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
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—照片存储设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: photo_storage_set
Data:
photo_storage_settings
照片存储设置集合
array
{"size": -, "item_type": enum_string}
拍照存储类型{current, wide, zoom, ir}，可多选
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "39-0-7",
"photo_storage_settings": [
"current",
"wide",
"zoom",
"ir"
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "photo_storage_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: photo_storage_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": "photo_storage_set"
}负载控制—视频存储设置
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: video_storage_set
Data:
video_storage_settings
视频存储设置集合
array
{"size": -, "item_type": enum_string}
视频存储类型{current, wide, zoom, ir}，可多选
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "39-0-7",
"video_storage_settings": [
"current",
"wide",
"zoom",
"ir"
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "video_storage_set"
}Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: video_storage_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": "video_storage_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—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—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":0}
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":0}
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—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—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":0}
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":0}
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":0}
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":0}
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":0}
height
测温区域高度
double
{"max":1,"min":0}
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"
}DRC
DRC-飞行控制
进入指令飞行模式后允许通过该指令控制飞行器航行方向与速度，发送的频率需要保持在5-10hz以内让设备能够比较精准的控制速度变化与方向。
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drone_control
Data:
seq
命令序号
int
递增的序号，保证指令顺序执行。若 x、y、h、w 参数发生变化，seq 需要从 0 开始增长。
x
前进后退方向的速度
double
{"max":17,"min":-17,"unit_name":"米每秒 / m/s"}
前进后退的最大速度，负值表示向后移动
y
左右方向的速度
double
{"max":17,"min":-17,"unit_name":"米每秒 / m/s"}
左右移动的最大速度，负值表示向左移动
h
上下方向的速度
double
{"max":5,"min":-4,"unit_name":"米每秒 / m/s"}
向上向下移动的最大速度，负值表示向下移动
w
机身角速度
double
{"max":90,"min":-90,"unit_name":"弧度每秒 / rad/s"}
顺时针与逆时针的最大角速度，负值表示逆时针转动
Example:
{
"data": {
"h": 2.76,
"seq": 1,
"w": 2.86,
"x": 2.34,
"y": -2.45
},
"method": "drone_control"
}Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: drone_control
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
output
输出
struct
»seq
命令序号
int
递增的序号，保证指令顺序执行
Example:
{
"data": {
"output": {
"seq": 1
},
"result": 0
},
"method": "drone_control"
}DRC-飞行器急停
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drone_emergency_stop
Data: null
Example:
{
"data": {},
"method": "drone_emergency_stop"
}Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: drone_emergency_stop
Data:
result
返回码
int
非 0 代表错误
Example:
{
"data": {
"result": 0
},
"method": "drone_emergency_stop"
}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: 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
}Topic: thing/product/{gateway_sn}/drc/up
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
}DRC-避障信息上报
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: hsi_info_push
Data:
up_distance
上方的障碍物距离
int
{"unit_name":"毫米 / mm"}
down_distance
下方的障碍物距离
int
{"unit_name":"毫米 / mm"}
up_enable
上视避障开关状态
bool
up_work
上视避障工作状态
bool
down_enable
下视避障开关状态
bool
down_work
下视避障工作状态
bool
left_enable
左视避障开关状态
bool
left_work
左视避障工作状态
bool
right_enable
右视避障开关状态
bool
right_work
右视避障工作状态
bool
front_enable
前视避障开关状态
bool
front_work
前视避障工作状态
bool
back_enable
后视避障开关状态
bool
back_work
后视避障工作状态
bool
vertical_enable
垂直避障开关状态
bool
vertical_work
垂直避障工作状态
bool
horizontal_enable
水平避障开关状态
bool
horizontal_work
水平避障工作状态
bool
around_distances
周边的障碍物距离
array
{"size": 360, "item_type": int}
水平方向观察点，分布在[0,360)的角度区间，0对应机头方向正前方，顺时针分布，例如0度为机头正前方，90度为飞行器正右方。每个数值表示该角度上障碍物与飞行器距离，60000 表示该角度没有障碍物。若上报空数组，意味任意角度都无障碍物。若上报 4 个数据的数组，意味该数据为 TOF 避障数据，在红外避障失效时上报，譬如夜晚场景。
Example:
{
"method": "hsi_info_push",
"timestamp": 1670415891013,
"data": {
"up_distance": 10,
"down_distance": 10,
"around_distance": [
10,
8,
9,
16,
2
],
"up_enable": true,
"up_work": true,
"down_enable": true,
"down_work": true,
"left_enable": true,
"left_work": true,
"right_enable": true,
"right_work": true,
"front_enable": true,
"front_work": true,
"back_enable": true,
"back_work": true,
"vertical_enable": true,
"vertical_work": true,
"horizontal_enable": true,
"horizontal_work": true
}
}DRC-图传链路延时信息上报
Topic: thing/product/{gateway_sn}/drc/up
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
}DRC-高频 osd 信息上报
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: osd_info_push
Data:
attitude_head
飞行器姿态 head 角
double
{"unit_name":"度 / °"}
飞行器姿态 head 角
latitude
飞行器纬度
double
{"unit_name":"度 / °"}
longitude
飞行器经度
double
{"unit_name":"度 / °"}
height
飞行器高度
double
{"unit_name":"度 / °"}
飞行器海拔高度
speed_x
当前飞行器 x 坐标方向的速度
double
{"unit_name":"米每秒 / m/s"}
当前飞行器 x 坐标方向的速度
speed_y
当前飞行器 y 坐标方向的速度
double
{"unit_name":"米每秒 / m/s"}
当前飞行器 y 坐标方向的速度
speed_z
当前飞行器 z 坐标方向的速度
double
{"unit_name":"米每秒 / m/s"}
gimbal_pitch
云台 pitch 角
double
{"unit_name":"度 / °"}
gimbal_roll
云台 roll 角
double
{"unit_name":"度 / °"}
gimbal_yaw
云台 yaw 角
double
{"unit_name":"度 / °"}
Example:
{
"data": {
"attitude_head": 60,
"gimbal_pitch": 60,
"gimbal_roll": 60,
"gimbal_yaw": 60,
"height": 10,
"latitude": 10,
"longitude": 10,
"speed_x": 10,
"speed_y": 10,
"speed_z": 10
},
"timestamp": 1670415891013
}Last updated