AIBOX設(shè)備集成協(xié)議 V1.0

AIBOX采用MQTT和GB28181協(xié)議實現(xiàn)外部平臺對接，基本上參考大疆的上云API。MQTT消息用于控制，事件上報等。GB28181用于視頻相關(guān)流媒體傳輸。
用戶可以對照著大疆的MQTT Topic協(xié)議文檔https://developer.dji.com/doc/cloud-api-tutorial/cn/api-reference/pilot-to-cloud/mqtt/topic-definition.html

MQTT Topic 定義

Topic Name	發(fā)送者 -> 訂閱者	Message	說明
thing/product/{device_sn}/osd	設(shè)備 > 云平臺		盒子定頻向云平臺推送的設(shè)備屬性
thing/product/{device_sn}/state	設(shè)備 > 云平臺		盒子按需上報向云平臺推送的設(shè)備屬性
thing/product/{gateway_sn}/services	云平臺 -> 設(shè)備		云平臺向盒子請求的服務(wù)
thing/product/{gateway_sn}/services_reply	設(shè)備 > 云平臺		設(shè)備對 service 的回復(fù)、處理結(jié)果
thing/product/{gateway_sn}/events	設(shè)備 > 云平臺		設(shè)備端向云平臺發(fā)送的事件
thing/product/{gateway_sn}/requests	設(shè)備 > 云平臺		設(shè)備端向云平臺發(fā)送請求，為了獲取一些信息，比如上傳的臨時憑證
thing/product/{gateway_sn}/requests_reply	云平臺 -> 設(shè)備		云平臺對設(shè)備請求的回復(fù)
sys/product/{gateway_sn}/status	設(shè)備 > 云平臺		設(shè)備上下線
thing/product/{gateway_sn}/drc/up	設(shè)備 > 云平臺		DRC 協(xié)議上行
thing/product/{gateway_sn}/drc/down	云平臺 > 設(shè)備		DRC 協(xié)議下行

公共字段：

Column	Name	Type	Description
tid	事務(wù)uuid	text	事務(wù)（Transaction）的 UUID：表征一次簡單的消息通信
bid	業(yè)務(wù)uuid	text	業(yè)務(wù)（Business）的 UUID
timestamp	毫秒時間戳	int	消息的發(fā)送時間
gateway	網(wǎng)關(guān)設(shè)備的序列號	text	發(fā)送該消息的網(wǎng)關(guān)設(shè)備的序列號
data	消息內(nèi)容	object	消息內(nèi)容

開始直播

topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_start_push

字段：

Column	Name	Type	Description
url_type	直播協(xié)議類型	enum	"3" //GB28181
url	直播參數(shù)	text	"serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001"
video_id	直播視頻流的ID編號	text	1ZNDH1D0010098/39-0-7/normal-0
video_quality	直播質(zhì)量	enum	{"0":"自適應(yīng)","1":"流暢","2":"標(biāo)清","3":"高清","4":"超清"}
示例：

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"url_type": "3", //gb28181
		"url": "serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001",
		"video_id": "1ZNDH1D0010098/39-0-7/normal-0",
		"video_quality": 0      
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "live_start_push"
}

停止直播

topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_stop_push

字段：

Column	Name	Type	Description
video_id	直播視頻流的ID編號	text	1ZNDH1D0010098/39-0-7/normal-0
示例：

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp:": 1654070968655,
	"method": "live_stop_push",
	"data": {
		"video_id": "1ZNDH1D0010098/42-0-0/zoom-0"
	}
}

盒子Osd

topic: thing/product/{device_sn}/osd

說明：此消息1hz定時上報

字段：

Column	Name	Type	Description
height	絕對高度	float
latitude	當(dāng)前位置緯度	float
longitude	當(dāng)前位置經(jīng)度	float
authority_change		bool	控制權(quán)變化
flight_authority_type		int
flight_authority_user		string
live_status		int
live_quality		int
live_video_type		string
available_network		int
real_use_network		int
wireless_status_list	無線信號質(zhì)量	array

wireliess_status_list字段

Column	Name	Type	Description
module_name		string
module_installed		bool
module_connected		bool
in_use		bool
sim_card_status		enum_int	// 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
ue_state		string
network_type		string
cell_id		string
rsrp		int
sinr		int
sdr_quality		int

示例：

{
  "bid":"00000000-0000-0000-0000-000000000000",
  "tid":"00000000-0000-0000-0000-000000000000",
  "timestamp":1727505066666,
  "gateway":"1ZMBJBF0030041",
  "data": {
        wireless_status_list: [
			{
                "module_name" : "5G_A", //Module name in AIBOX
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN", // "SEARCH", "LIMSRV", "NOCONN", "CONNECT"
                "network_type" : "NR", // LTE, NR
                "cell_id" : 0, // cell id
                "rsrp" : -70, // received signal strength, dbm
                "sinr" : -20, //signal to interference plus noise ratio, db
            },
            {
                "module_name" : "5G_B",
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN",
                "network_type" : "NR", // LTE, NR
                "cell_id" : 0,
                "rsrp" : -70,
                "sinr" : -20,
            },
            {
                "module_name" : "1.4G",
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN",
                "network_type" : "LTE", // LTE, NR
                "cell_id" : 0,
                "rsrp" : -70,
                "sinr" : -20,
            },           
        ]
    },
}

飛機(jī)Osd

topic: thing/product/{device_sn}/osd

說明：此消息1hz定時上報

字段：

Column	Name	Type	Description
attitude_head	偏航軸角度	float	偏航軸角度與真北角（經(jīng)線）的角度，0到6點鐘方向為正值，6到12點鐘方向為負(fù)值
attitude_pitch	俯仰軸角度	float
attitude_roll	橫滾軸角度	float
battery	飛行器電池信息	struct
distance_limit_status		struct
elevation	相對起飛點高度	float
firmware_version	固件版本	string	{"length":"64"}
gear	檔位	enum	{"0":"A","1":"P","2":"NAV","3":"FPV","4":"FARM","5":"S","6":"F","7":"M","8":"G","9":"T"}
height	絕對高度	float	相對地球橢球面高度, 計算：相對起飛點的高度 + 起飛點的橢球高
height_limit	飛行器限高	int	{"max":"1500","min":"20","step":"1","unit_name":"米 / m"}
home_distance	距離 Home 點的距離	float
horizontal_speed	水平速度	float
latitude	當(dāng)前位置緯度	float	{"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"}
longitude	當(dāng)前位置經(jīng)度	float	{"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"}
mode_code	飛行器狀態(tài)	enum	{"0":"待機(jī)","1":"起飛準(zhǔn)備","2":"起飛準(zhǔn)備完畢","3":"手動飛行","4":"自動起飛","5":"航線飛行","6":"全景拍照","7":"智能跟隨","8":"ADS-B 躲避","9":"自動返航","10":"自動降落","11":"強(qiáng)制降落","12":"三槳葉降落","13":"升級中","14":"未連接","15":"APAS","16":"虛擬搖桿狀態(tài)","17":"指令飛行","18":"空中 RTK 收斂模式"}
payload	負(fù)載	Struct
position_state	搜星狀態(tài)	struct
storage	存儲容量	Struct
total_flight_distance	飛行器累計飛行總里程	Float	{"unit_name":"米 / m"}
total_flight_time	飛行器累計飛行航時	Int	{"unit_name":"秒 / s"}
track_id	航跡 ID	string	{"length":"64"}
vertical_speed	垂直速度	float	{"unit_name":"米每秒 / m/s"}
wind_direction	當(dāng)前風(fēng)向	Enum	{"1":"正北","2":"東北","3":"東","4":"東南","5":"南","6":"西南","7":"西","8":"西北"}
wind_speed	風(fēng)速	float	風(fēng)速估計，該風(fēng)速是通過飛行器姿態(tài)推測出的，有一定的誤差，僅供參考，不能作為氣象數(shù)據(jù)使用

Position state字段

Column	Name	Type	Description
gps_number	GPS 搜星數(shù)量	int
is_fixed	是否收斂	Enum	{"0":"未開始","1":"收斂中","2":"收斂成功","3":"收斂失敗"}
quality	搜星檔位	enum	{"1":"1檔","2":"2檔","3":"3檔","4":"4檔","5":"5檔"}
rtk_number	RTK 搜星數(shù)量	int

drone battery字段

Column	Name	Type	Description
batteries	電池詳細(xì)信息	array
capacity_percent	電池的總剩余電量	int	{"max":100,"min":0}
landing_power	強(qiáng)制降落電量百分比	int	{"max":100,"min":0}
remain_flight_time	剩余飛行時間	int	{"unit_name":"秒 / s"}
return_home_power	返航所需電量百分比	int	{"max":100,"min":0}

battery字段

Column	Name	Type	Description
capacity_percent	電池剩余電量	int	{"max":100,"min":0}
firmware_version	固件版本	string
high_voltage_storage_days	高電壓存儲天數(shù)	int	{"unit_name":"日 / day"}
index	電池序號	int	left: 0 right: 1
loop_times	電池循環(huán)次數(shù)	int
sn	電池序列號（SN）	string
sub_type	電池子類型	enum_int
temperature	溫度	float	{"unit_name":"攝氏度 / °C"} 保留小數(shù)點后一位
type	電池類型	enum_int
voltage	電壓	int	{"unit_name":"毫伏 / mV"}

storage字段

Column	Name	Type	Description
total	總?cè)萘?/td>	int	{"unit_name":"千字節(jié) / KB"}
used	已使用容量	int	{"unit_name":"千字節(jié) / KB"}

示例：

盒子上下線

topic: sys/product/{gateway_sn}/status

字段：

Column	Name	Type	Description
device_secret	網(wǎng)關(guān)設(shè)備的密鑰
domain	網(wǎng)關(guān)設(shè)備的命名空間
nonce	nonce
sub_devices	子設(shè)備列表
sub_type	網(wǎng)關(guān)子設(shè)備的產(chǎn)品子類型
thing_version	網(wǎng)關(guān)設(shè)備的物模型版本
type	網(wǎng)關(guān)設(shè)備的產(chǎn)品類型

sub_device字段

Column	Name	Type	Description
device_secret	子設(shè)備的密鑰
domain
index
nonce	nonce
sn	子設(shè)備序列號（SN）
sub_type
thing_version
type

示例：

{
	"tid": "tid001",
	"bid": "bid001",
	"method": "update_topo",
	"timestamp": 1234567890123,
  "gateway": "gw123456",
  "from": "gw123456",
	"data": {
		"type": 98,
		"sub_type": 0,
		"device_secret": "secret",
		"nonce": "nonce",
		"version": 1,
		"sub_devices": [
			{
				"sn": "drone001",
				"type": 116,
				"sub_type": 0,
				"index": "A",
				"device_secret": "secret",
				"nonce": "nonce",
				"version": 1
			}
		]
	}
}

獲取飛行控制權(quán)

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	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

一鍵起飛

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	Description
commander_flight_height	【必填】指點飛行高度	float	{"max":3000,"min":2,"step":0.1,"unit_name":"米 / m"} 相對(機(jī)場)起飛點的高度，相對高 ALT
commander_flight_mode	【必填】指點飛行模式設(shè)置值	enum_int	{"0":"智能高度飛行","1":"設(shè)定高度飛行"}
commander_mode_lost_action	【必填】指點飛行失控動作	enum_int	{"0":"繼續(xù)執(zhí)行指點飛行任務(wù)","1":"退出指點飛行任務(wù)，執(zhí)行普通失控行為"}
flight_id	一鍵起飛任務(wù) UUID	string	任務(wù) UUID，全局唯一，用于染色，云端區(qū)分該值是普通計劃任務(wù)還是一鍵起飛任務(wù)
max_speed	一鍵起飛的飛行過程中能達(dá)到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
rth_altitude	返航高度	int	{"max":1500,"min":2,"step":1,"unit_name":"米 / m"}相對(機(jī)場)起飛點的高度，相對高 ALT
rc_lost_action	遙控器失控動作	enum_int	{"0":"懸停","1":"著陸(降落)","2":"返航"}遙控器失控動作
rth_mode	【必填】返航模式設(shè)置值	enum_int	{"0":"智能高度","1":"設(shè)定高度"}智能返航模式下，飛行器將自動規(guī)劃最佳返航高度。大疆機(jī)場當(dāng)前不支持設(shè)置返航高度模式，只能選擇'設(shè)定高度'模式。當(dāng)環(huán)境，光線不滿足視覺系統(tǒng)要求時（譬如傍晚陽光直射、夜間弱光無光），飛行器將使用您設(shè)定的返航高度進(jìn)行直線返航
security_takeoff_height	安全起飛高度	float	{"max":1500,"min":20,"step":0.1,"unit_name":"米 / m"}相對(機(jī)場)起飛點的高度（ALT），飛行器先升到特定的高度，然后再飛向目標(biāo)點。
target_height	目標(biāo)點高度	float	{"max":1500,"min":2,"step":0.1,"unit_name":"米 / m"}目標(biāo)點高度（橢球高），使用 WGS84 模型，飛行器到點后默認(rèn)行為：懸停
target_latitude	目標(biāo)點緯度	double	{"max":90,"min":-90} 目標(biāo)點緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點后6位
target_longitude	目標(biāo)點經(jīng)度	double	{"max":180,"min":-180} 目標(biāo)點經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點后6位

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"
}

盒子響應(yīng)

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

一鍵起飛結(jié)果上報

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	Description
flight_id	一鍵起飛任務(wù) UUID	text
planned_path_points	規(guī)劃的軌跡點列表	array	指點飛行為什么不要這個字段
remaining_distance	剩余任務(wù)距離	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任務(wù)時間	float	{"step":0.1,"unit_name":"秒 / s"}
result	返回碼	int	非 0 代表錯誤
status	任務(wù)狀態(tài)	enum_string	{"task_finish":"一鍵起飛任務(wù)完成","task_ready":"準(zhǔn)備起飛","wayline_cancel":"取消飛向目標(biāo)點","wayline_failed":"執(zhí)行失敗","wayline_ok":"執(zhí)行成功，已飛向目標(biāo)點","wayline_progress":"執(zhí)行中"}
track_id	航跡 ID	text
way_point_index	當(dāng)前執(zhí)行到第幾個航點	int	指點飛行為什么不要這個字段

planned_path_points字段：

Column	Name	Type	Description
height	目標(biāo)點高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點高度（橢球高），使用 WGS84 模型
latitude	目標(biāo)點緯度	float	{"max":90,"min":-90} 目標(biāo)點緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點后6位
longitude	目標(biāo)點經(jīng)度	float	{"max":180,"min":-180} 目標(biāo)點經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點后6位

示例:

{
	"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"
}

指點飛行

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	Description
fly_to_id	飛向目標(biāo)點 ID	text
max_speed	flyto 的飛行過程中能達(dá)到的最大速度	int	{"max":15,"min":0,"unit_name":"米每秒 / m/s"}
points	flyto 目標(biāo)點列表	array	僅支持 1 個目標(biāo)點

points字段：

Column	Name	Type	Description
height	目標(biāo)點高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點高度（橢球高），使用 WGS84 模型
latitude	目標(biāo)點緯度	float	{"max":90,"min":-90} 目標(biāo)點緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點后6位
longitude	目標(biāo)點經(jīng)度	float	{"max":180,"min":-180} 目標(biāo)點經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點后6位

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"
}

盒子響應(yīng)消息

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

指點飛行執(zhí)行結(jié)果通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	Description
fly_to_id	飛向目標(biāo)點 ID	text
remaining_distance	剩余任務(wù)距離	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任務(wù)時間	float	{"step":0.1,"unit_name":"秒 / s"}
planned_path_points	規(guī)劃的軌跡點列表	array	{"size": -, "item_type": struct}
result	返回碼	int	非 0 代表錯誤
status	狀態(tài)	enum_string	{"wayline_cancel":"取消飛向目標(biāo)點","wayline_failed":"執(zhí)行失敗","wayline_ok":"執(zhí)行成功，已飛向目標(biāo)點","wayline_progress":"執(zhí)行中"}
way_point_index	當(dāng)前執(zhí)行到第幾個航點	int

planned_path_points字段：

Column	Name	Type	Description
height	目標(biāo)點高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點高度（橢球高），使用 WGS84 模型
latitude	目標(biāo)點緯度	float	{"max":90,"min":-90} 目標(biāo)點緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點后6位
longitude	目標(biāo)點經(jīng)度	float	{"max":180,"min":-180} 目標(biāo)點經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點后6位

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"
}

結(jié)束指點飛行

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	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

更新指點飛行目標(biāo)點

說明：「一鍵起飛」或「flyto 飛向目標(biāo)點」的過程中，可以通過該命令快速更新目標(biāo)點

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
max_speed	指令飛行過程中能達(dá)到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
points	更新的目標(biāo)點列表	array	{"size": -, "item_type": struct}	僅支持 1 個目標(biāo)點
?latitude	目標(biāo)點緯度	double	{"max":90,"min":-90}	目標(biāo)點緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點后6位
?longitude	目標(biāo)點經(jīng)度	double	{"max":180,"min":-180}	目標(biāo)點經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點后6位
?height	目標(biāo)點高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}	目標(biāo)點高度（橢球高），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:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_update"
}

執(zhí)行航線任務(wù)

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	計劃 ID	text
file	航線文件對象	struct
?url	文件 URL	text
?fingerprint	文件簽名	text		文件內(nèi)容 MD5 簽名

示例：

{
	"bid": "00000000-0000-0000-0000-000000000000",
	"data": {
        "file": {
			"url": "https://cloud.3g.com.cn/kmz/waypoint_v3_test_file.kmz",
    		"fingerprint": "MD5"        
        },
		"flight_id": "12345678"
	},
	"tid": "00000000-0000-0000-0000-000000000000",
	"timestamp": 1654070968655,
	"method": "flighttask_execute"
}

航線暫停

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:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_pause"
}

航線恢復(fù)

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:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_recovery"
}

任務(wù)終止

Topic:** thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
flight_id	任務(wù)id	text
reason	結(jié)束原因	enum_int	{"0":"正常結(jié)束","1":"另一機(jī)場狀態(tài)機(jī)異常"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"reason": 0
	},
	"method": "flighttask_stop",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"method": "flighttask_stop",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1695634358385
}

上報航線任務(wù)進(jìn)度

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
flight_id	任務(wù) ID	text
state	斷點狀態(tài)	enum_int	{"0":"在航段上","1":"在航點上"}
way_point_index	航線 ID	int

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
				"way_point_index": 3,
				"flight_id": "flight_id",
				"state": 1,
		},
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_progress"
}

一鍵返航

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home"
}

取消一鍵返航

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

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

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"
}

原地降落

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: landing_smart

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "landing_smart"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "landing_smart"
}

緊急停止

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: emergency_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "emergency_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: emergency_stop

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "emergency_stop"
}

進(jìn)入DRC模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data::

Column	Name	Type	Description
hsi_frequency	HSI 頻率	int	{"max":30,"min":1,"step":"","unit_name":"赫茲 / Hz"} 設(shè)置 HSI 上報頻率
mqtt_broker	Broker 連接信息	struct	獲取 MQTT 中繼服務(wù)的地址與認(rèn)證信息
osd_frequency	OSD 頻率	int	{"max":30,"min":1,"step":"","unit_name":"赫茲 / Hz"} 設(shè)置 OSD 上報頻率

mqtt_broker字段：

Column	Name	Type	Description
address
client_id
enable_tls
expire_time
password
username

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"
}

設(shè)備端-reply:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

web端發(fā)送控制指令

進(jìn)入指令飛行模式后允許通過該指令控制飛行器航行方向與速度，發(fā)送的頻率需要保持在5-10hz以內(nèi)讓設(shè)備能夠比較精準(zhǔn)的控制速度變化與方向。

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

Direction: down

Method: drone_control

Data:

Column	Name	Type	Description
h	上下方向的速度	double	{"max":5,"min":-4,"unit_name":"米每秒 / m/s"} 向上向下移動的最大速度，負(fù)值表示向下移動
seq	命令序號	int	遞增的序號，保證指令順序執(zhí)行。若 x、y、h、w 參數(shù)發(fā)生變化，seq 需要從 0 開始增長。
w	機(jī)身角速度	double	{"max":90,"min":-90,"unit_name":"弧度每秒 / rad/s"} 順時針與逆時針的最大角速度，負(fù)值表示逆時針轉(zhuǎn)動
x	前進(jìn)后退方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 前進(jìn)后退的最大速度，負(fù)值表示向后移動
y	左右方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 左右移動的最大速度，負(fù)值表示向左移動

Example:

{
	"data": {
		"h": 2.76,
		"seq": 1,
		"w": 2.86,
		"x": 2.34,
		"y": -2.45
	},
	"method": "drone_control"
}

DRC避障信息

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	Description
around_distances	周邊的障礙物距離	array	水平方向觀察點，分布在[0,360)的角度區(qū)間，0對應(yīng)機(jī)頭方向正前方，順時針分布，例如0度為機(jī)頭正前方，90度為飛行器正右方。每個數(shù)值表示該角度上障礙物與飛行器距離，60000 表示該角度沒有障礙物。若上報空數(shù)組，意味任意角度都無障礙物。若上報 4 個數(shù)據(jù)的數(shù)組，意味該數(shù)據(jù)為 TOF 避障數(shù)據(jù)，在紅外避障失效時上報，譬如夜晚場景。
back_enable	后視避障開關(guān)狀態(tài)	bool
back_work	后視避障工作狀態(tài)	bool
down_distance	下方的障礙物距離	int	{"unit_name":"毫米 / mm"}
down_enable	下視避障開關(guān)狀態(tài)	bool
down_work	下視避障工作狀態(tài)	bool
front_enable	前視避障開關(guān)狀態(tài)	bool
front_work	前視避障工作狀態(tài)	bool
horizontal_enable	水平避障開關(guān)狀態(tài)	bool
horizontal_work	水平避障工作狀態(tài)	bool
left_enable	左視避障開關(guān)狀態(tài)	bool
left_work	左視避障工作狀態(tài)	bool
right_enable	右視避障開關(guān)狀態(tài)	bool
right_work	右視避障工作狀態(tài)	bool
up_distance	上方的障礙物距離	int	{"unit_name":"毫米 / mm"}
up_enable	上視避障開關(guān)狀態(tài)	bool
up_work	上視避障工作狀態(tài)	bool
vertical_enable	垂直避障開關(guān)狀態(tài)	bool
vertical_work	垂直避障工作狀態(tài)	bool

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 osd信息

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

Direction: up

Method: osd_info_push

Data:

Column	Name	Type	Description
attitude_head	飛行器姿態(tài) head 角	float	{"unit_name":"度 / °"} 飛行器姿態(tài) head 角
gimbal_pitch	云臺 pitch 角	float	{"unit_name":"度 / °"}
gimbal_roll	云臺 roll 角	float	{"unit_name":"度 / °"}
gimbal_yaw	云臺 yaw 角	float	{"unit_name":"度 / °"}
height	飛行器高度	float	{"unit_name":"度 / °"} 飛行器海拔高度
latitude	飛行器緯度	float	{"unit_name":"度 / °"}
longitude	飛行器經(jīng)度	float	{"unit_name":"度 / °"}
speed_x	當(dāng)前飛行器 x 坐標(biāo)方向的速度	float	{"unit_name":"米每秒 / m/s"}
speed_y	當(dāng)前飛行器 y 坐標(biāo)方向的速度	float	{"unit_name":"米每秒 / m/s"}
speed_z	當(dāng)前飛行器 z 坐標(biāo)方向的速度	float	{"unit_name":"米每秒 / m/s"}

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
}

DRC飛行器急停

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

Direction: down

Method: drone_emergency_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drone_emergency_stop"
}

DRC心跳

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

Direction: down

Method: heart_beat

Data:

Column	Name	Type	Description
seq	命令序號	int	遞增的序號，保證指令順序執(zhí)行
timestamp	心跳發(fā)送時間戳	int	{"unit_name":"毫秒 / ms"} 若超過 1 分鐘未收到業(yè)務(wù)方發(fā)送心跳協(xié)議，設(shè)備將會認(rèn)為 DRC 鏈路處于空閑退出 DRC 鏈路。

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat",
	"seq": 1
}

退出DRC模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_exit

Data::

Example:**

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

設(shè)備端-reply:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_exit

Data:

Column	Name	Type	constraint	Description
result	返回碼	int		非 0 代表錯誤

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

參數(shù)設(shè)定

Topic: thing/product/{gateway_sn}/property/set

Direction: down

Method: param_set

Data:

Column	Name	Type	Description
obstacle_avoidance_horizon_enable	水平避障	int
obstacle_avoidance_downside_enable	下避障	int
obstacle_avoidance_upside_enable	上避障	int
rc_lost_action

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
			"obstacle_avoidance_horizon_enable": 0,
    	"obstacle_avoidance_downside_enable": 0,
    	"obstacle_avoidance_upside_enable": 0,
    	"rc_lost_action": 0,
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "param_set"
}

HMS

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: has

Data:

Column	Name	Type	constraint	Description
list	hms信息列表	list

list字段：

Column	Name	Type	constraint	Description
args	產(chǎn)生hms的組件信息	Struct
code	hms編碼	string
device_type	設(shè)備編碼	string
imminent	是否緊急	bool
in_the_sky	是否在空中	bool
level	等級	int
module	模塊

Example:

{
    "bid":"7785a02f-b630-4d1d-be12-36d91520ab7f",
    "data":{
        "list":[
            {
                "args":{"component_index":0,"sensor_index":0},
                "code":"0x1B080003",
                "device_type":"0-89-0",
                "imminent":true,
                "in_the_sky":false,
                "level":2,
                "module":3
            }
        ]
    },
    "tid":"f1e89554-a96e-43a9-926f-b1fe3859675b",
    "timestamp":1729504021399,
    "from":"1581F6GKB24790040093",
    "gateway":"4LGZM7300A01VV",
    "method":"hms",
    "need_reply":false
}