指令飞行与云台控制

Event

flyto 执行结果事件通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	constraint	Description
fly_to_id	飞向目标点 ID	text		本次 flyto 任务的唯一标识
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"}	flyto 任务当前执行状态
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		当前正在飞往的航点序号
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}	距离目标点的剩余飞行距离
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}	预计到达目标点的剩余时间
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}	飞行器规划的航线轨迹点序列
»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

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:

Column	Name	Type	constraint	Description
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"}	一键起飞任务当前执行状态
result	返回码	int		非 0 代表错误
flight_id	一键起飞任务 UUID	text		一键起飞任务的唯一标识
track_id	航迹 ID	text		飞行航迹的唯一标识
way_point_index	当前执行到第几个航点	int		当前正在飞往的航点序号
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}	距离目标点的剩余飞行距离
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}	预计到达目标点的剩余时间
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}	飞行器规划的航线轨迹点序列
»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

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"
}

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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
payload_index	负载枚举值	text		镜头负载与挂载位置枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考产品支持页面

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "68-0-0"
	},
	"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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
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.autel.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码的前缀组合，例如，drc-TH12345678，不建议直接使用设备SN码，避免同一个MQTT互相挤下线
»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.autel.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	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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
target_latitude	目标点纬度(角度值)	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(角度值)	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（相对高）
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"}	限制飞行器的最大飞行速度

device_list:

Column	Name	Type	constraint	Description
sn	飞机序列号	text		要执行任务的飞机序列号

Example: 注意一键起飞只能在室外，并且目标经纬度不能离当前经纬度太远

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "ABDEAC21DCADDA",
		"max_speed": 12,
		"target_height": 100,
		"target_latitude": 12.23,
		"target_longitude": 12.32
	},
    "device_list": [{
		"sn": "1748xx"
	}, {
		"sn": "174822xx"
	}],
	"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	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

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
fly_to_id	飞向目标点 ID	text		本次 flyto 任务的唯一标识
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"}	限制飞行器的最大飞行速度
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(角度值)	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(角度值)	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（相对高）

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	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:

Column	Name	Type	constraint	Description
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"
}

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:

Column	Name	Type	constraint	Description
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）"}	任务被中断或状态变化的原因

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"
}

负载控制—单拍

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "68-0-0"
	},
	"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:

Column	Name	Type	constraint	Description
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_take"
}

负载控制—开始录像

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "68-0-0"
	},
	"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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "68-0-0"
	},
	"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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
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"}	控制云台旋转时是否同步旋转机头
pitch_speed	云台 pitch 速度	double	{"unit_name":"度每秒 / deg/s"}	云台 pitch 速度，仅支持云台转
yaw_speed	云台 yaw 速度	double	{"unit_name":"度每秒 / deg/s"}	云台 yaw 速度，仅支持锁机头

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"locked": false,
		"payload_index": "68-0-0",
		"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:

Column	Name	Type	constraint	Description
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—变焦

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
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": "68-0-0",
		"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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
payload_index	负载编号	text		负载编号，相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
reset_mode	重置模式类型	enum_int	{"0":"回中","1":"向下","2":"偏航回中","3":"向下45度"}	指定云台重置后的目标姿态

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "68-0-0",
		"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:

Column	Name	Type	constraint	Description
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—照片存储设置

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
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": "68-0-0",
		"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:

Column	Name	Type	constraint	Description
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:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
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": "68-0-0",
		"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:

Column	Name	Type	constraint	Description
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—Look At

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
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,
		"longitude": 12.23
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_look_at"
}

DRC

DRC-飞行控制

进入指令飞行模式后允许通过该指令控制无人机航行方向与速度，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。同时，需要保证飞机已经处于打桨飞行的状态，要不会无效。

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

Direction: down

Method: drone_control

Data:

Column	Name	Type	constraint	Description
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": {
		"freq": 10,
		"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:

Column	Name	Type	Description
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	服务响应输出内容
»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-无人机急停

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:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"data": {
		"result": 0
	},
	"method": "drone_emergency_stop"
}

DRC-心跳

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

Direction: down

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	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"}	收到的心跳发送时的时间戳，非设备端的时间，便于云端根据收发的间隔做时延计算

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

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

Direction: up

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	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"}	收到的心跳发送时的时间戳，非设备端的时间，便于云端根据收发的间隔做时延计算

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

DRC-避障信息上报

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
down_distance	下方障碍物距离	int	单位：毫米	下视传感器检测到的最近障碍物距离
up_distance	上方障碍物距离	int	单位：毫米	上视传感器检测到的最近障碍物距离
front1_distance	前方1号雷达障碍物距离	int	单位：毫米	前方1号雷达检测到的最近障碍物距离
front2_distance	前方2号雷达障碍物距离	int	单位：毫米	前方2号雷达检测到的最近障碍物距离
front3_distance	前方3号雷达障碍物距离	int	单位：毫米	前方3号雷达检测到的最近障碍物距离
front4_distance	前方4号雷达障碍物距离	int	单位：毫米	前方4号雷达检测到的最近障碍物距离
left1_distance	左侧1号雷达障碍物距离	int	单位：毫米	左侧1号雷达检测到的最近障碍物距离
left2_distance	左侧2号雷达障碍物距离	int	单位：毫米	左侧2号雷达检测到的最近障碍物距离
left3_distance	左侧3号雷达障碍物距离	int	单位：毫米	左侧3号雷达检测到的最近障碍物距离
rear1_distance	后方1号雷达障碍物距离	int	单位：毫米	后方1号雷达检测到的最近障碍物距离
rear2_distance	后方2号雷达障碍物距离	int	单位：毫米	后方2号雷达检测到的最近障碍物距离
rear3_distance	后方3号雷达障碍物距离	int	单位：毫米	后方3号雷达检测到的最近障碍物距离
rear4_distance	后方4号雷达障碍物距离	int	单位：毫米	后方4号雷达检测到的最近障碍物距离
right1_distance	右侧1号雷达障碍物距离	int	单位：毫米	右侧1号雷达检测到的最近障碍物距离
right2_distance	右侧2号雷达障碍物距离	int	单位：毫米	右侧2号雷达检测到的最近障碍物距离
right3_distance	右侧3号雷达障碍物距离	int	单位：毫米	右侧3号雷达检测到的最近障碍物距离
radar_enable	避障开关	boolean		飞行器避障功能是否开启

Example:

{
  "bid":"xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data":{
    "down_distance":0,
    "front1_distance":0,
    "front2_distance":0,
    "front3_distance":0,
    "front4_distance":0,
    "left1_distance":0,
    "left2_distance":0,
    "left3_distance":0,
    "radar_enable":true,
    "rear1_distance":0,
    "rear2_distance":0,
    "rear3_distance":0,
    "rear4_distance":0,
    "right1_distance":0,
    "right2_distance":0,
    "right3_distance":0,
    "up_distance":0
  },
  "tid":"xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp":1726131014572,
  "method":"hsi_info_push"
}

负载控制—拍照/录像模式切换

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
camera_mode	拍照/录像模式	enum_int	{"0":"拍照","1":"录像"}	设置相机的工作模式

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_mode": 0,
		"payload_index": "68-0-0"
	},
	"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:

Column	Name	Type	constraint	Description
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—连续变焦

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_drag

Data:

Column	Name	Type	constraint	Description
payload_index	相机枚举	text		相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持]
camera_type	相机类型	enum_string	{"ir":"红外","wide":"广角","zoom":"变焦"}	相机类型枚举
zoom_type	变焦类型	enum_int	{"0":"缩小","1":"放大","2":"停止"}	连续变焦操作类型

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"payload_index": "68-0-0",
		"zoom_type": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_drag"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focal_length_drag

Data:

Column	Name	Type	constraint	Description
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_drag"
}

喊话器—设置音量

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: speaker_play_volume_set

Data:

Column	Name	Type	constraint	Description
play_volume	喊话器音量	int	{"max":100,"min":0}	喊话器音量百分比

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"play_volume": 50
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "speaker_play_volume_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: speaker_play_volume_set

Data:

Column	Name	Type	constraint	Description
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": "speaker_play_volume_set"
}

Event​

flyto 执行结果事件通知​

一键起飞结果事件通知​

飞行控制权抢夺​

负载控制权抢夺​

进入指令飞行控制模式​

退出指令飞行控制模式​

一键起飞​

flyto 飞向目标点​

结束 flyto 飞向目标点任务​

Joystick 控制无效原因通知​

负载控制—单拍​

负载控制—开始录像​

负载控制—停止录像​

负载控制—画面拖动控制​

负载控制—变焦​

负载控制—重置云台​

负载控制—照片存储设置​

负载控制—视频存储设置​

负载控制—Look At​

DRC

DRC-飞行控制​

DRC-无人机急停​

DRC-心跳​

DRC-避障信息上报​

负载控制—拍照/录像模式切换​

负载控制—连续变焦​

喊话器—设置音量​

Event

flyto 执行结果事件通知

一键起飞结果事件通知

飞行控制权抢夺

负载控制权抢夺

进入指令飞行控制模式

退出指令飞行控制模式

一键起飞

flyto 飞向目标点

结束 flyto 飞向目标点任务

Joystick 控制无效原因通知

负载控制—单拍

负载控制—开始录像

负载控制—停止录像

负载控制—画面拖动控制

负载控制—变焦

负载控制—重置云台

负载控制—照片存储设置

负载控制—视频存储设置

负载控制—Look At

DRC-飞行控制

DRC-无人机急停

DRC-心跳

DRC-避障信息上报

负载控制—拍照/录像模式切换

负载控制—连续变焦

喊话器—设置音量