航线管理

Event

返航信息

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: return_home_info

Data:

Column	Name	Type	constraint	Description
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}
»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	{"max":"","min":"","step":0.1,"unit_name":"米 / m"}	轨迹点高度，椭球高
last_point_type	返航路径最后一个点的类型	enum_int	{"0":"轨迹最后一个点在返航点的上空","1":"轨迹最后一个点不在返航点上空"}
flight_id	任务 ID	text
home_dock_sn	home点机场sn	text		蛙跳任务中当前选择的机场home点SN，普通任务无该字段
multi_dock_home_info	蛙跳任务机场返航信息	array	{"size": 2, "item_type": struct}	普通任务无该字段
»sn	机场SN	text
»plan_status	路径规划状态	enum_int	{"0":"规划失败或正在规划中","1":"规划路径不可达","2":"规划路径因电量不可达","3":"目标可达"}
»estimated_battery_consumption	预估电量消耗	int	{"max":"100","min":"0","step":"1","unit_name":null}
»home_distance	home点距离	float	{"unit_name":"米 / m"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "home_dock_sn": "6QCDL870020164",
    "last_point_type": 0,
    "multi_dock_home_info": [
      {
        "estimated_battery_consumption": 30,
        "home_distance": 298.3277282714844,
        "plan_status": 3,
        "sn": "6QCDL870020164"
      },
      {
        "estimated_battery_consumption": 30,
        "home_distance": 298.289794921875,
        "plan_status": 3,
        "sn": "6QCDL820020041"
      }
    ],
    "planned_path_points": [
      {
        "height": 60.285194396972656,
        "latitude": 22.755022128112614,
        "longitude": 114.89828051067889
      },
      {
        "height": 88.22719192504883,
        "latitude": 22.755022128112614,
        "longitude": 114.89828051067889
      },
      {
        "height": 88.22719192504883,
        "latitude": 22.75721542071551,
        "longitude": 114.89853624254465
      },
      {
        "height": 88.22719192504883,
        "latitude": 22.757445462048054,
        "longitude": 114.89860304631293
      },
      {
        "height": 78.30619430541992,
        "latitude": 22.757531544193625,
        "longitude": 114.89862810820341
      }
    ]
  },
  "gateway": "6QCDL820020041",
  "method": "return_home_info",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1720000266772
}

任务就绪通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_ready

Data:

Column	Name	Type	constraint	Description
flight_ids	计划 ID	array	{"size": -, "item_type": text}	当前满足任务就绪条件的任务 ID 集合

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_ids": [
      "aaaaaaa",
      "bbbbbbb"
    ]
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "flighttask_ready"
}

上报航线任务进度

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
ext	扩展内容	struct
»current_waypoint_index	当前执行到的航点数	int
»wayline_mission_state	航线任务状态	enum_int	{"0":"断连","1":"不支持该航点","2":"航线准备状态,可上传文件,可执行已有文件","3":"航线文件上传中","4":"触发开始命令，飞行器触发读航线等逻辑，还未开始任务，处于准备状态","5":"进入航线,到第一个航点","6":"航线执行","7":"航线中断，触发条件：1.用户主动暂停 2.飞控异常","8":"航线恢复","9":"航线停止"}
»media_count	本次航线任务执行产生的媒体文件数量	int
»track_id	航迹 ID	text
»flight_id	任务 ID	text
»break_point	航线断点信息	struct		可选字段，用于告知云端本次航线任务断点信息
»»index	断点序号	int
»»state	断点状态	enum_int	{"0":"在航段上","1":"在航点上"}
»»progress	当前航段进度	float	{"max":"1.0","min":"0","step":"","unit_name":null}
»»wayline_id	航线 ID	int
»»break_reason	中断原因	enum_int	{"0":"无异常","1":"Mission ID 不存在，该航线任务未执行","2":"不常见错误，建议联系技术支持","4":"请求开始/恢复航线任务时，航线文件加载出错，请重新尝试上传文件开始或联系技术支持","5":"请求查询断点信息时，查询断点文件失败。请求恢复航线任务时，解析断点类型失败","6":"请求开始/结束航线任务时，cmd参数有误，协议请求的指令有误。请求恢复航线任务时，解析断点类型失败","7":"请求开始/恢复航线任务时，解析 wpmz 文件超时，请重试","257":"航线已经开始，不能再次开始","258":"此状态下无法中断航线，只允许在航线执行状态时暂停航线","259":"航线未开始，不能结束航线","261":"飞行任务冲突，无法获取飞行器控制权，不允许在降落和返航中开始航线","262":"该状态下无法恢复航线，只允许在航线暂停状态时恢复航线","513":"飞行器超过限高高度","514":"飞行器超过限远距离","516":"飞行器触发限低","517":"飞行器触发避障","518":"RTK 信号差","519":"接近禁飞区边界","521":"超过机场限飞区限高","522":"航线请求起飞失败","523":"起飞任务执行失败","524":"请求航线任务失败","526":"请求航线 RTK 收敛任务失败","527":"航线 RTK 收敛任务运行失败","529":"有障碍物或者禁飞区域，导致航线无法到达","769":"GPS 信号弱","770":"遥控器档位不在 N 档","771":"返航点未刷新","772":"当前电量过低无法开始任务","773":"低电量返航导致航线中断","775":"遥控器与飞行器失联","778":"飞行器在地面起桨，不允许开始航线","779":"实时仿地过程中，相机状态异常（如过亮，过暗，两侧亮度不一致）","780":"实时仿地用户设置的仿地高度不合法（大于 200 m 或者小于 30 m）","781":"实时仿地过程中全局地图计算出错","784":"大风返航导致航线中断","1281":"用户退出","1282":"用户中断","1283":"用户触发返航","1539":"开始信息（航点 index 或者 progress）错误","1540":"使用不支持的坐标系","1541":"使用不支持的高度模式","1542":"使用不支持的过渡航线模式","1543":"使用不支持的 yaw 模式","1544":"使用不支持的 yaw 方向调转模式","1545":"使用不支持的航点类型","1546":"首尾点不能使用协调转弯类型","1547":"航线全局速度超过合理范围","1548":"航点数量异常","1549":"经纬度数据异常","1550":"转弯截距异常","1551":"航段最大速度超过合理范围","1552":"航段目标速度超过合理范围","1553":"航点 yaw 角度超过合理范围","1555":"断点续飞的 mission_id 输入错误","1556":"断点续飞的 progress 信息输入错误","1557":"断点续飞的任务状态异常","1558":"断点续飞的航点 index 信息输入错误","1559":"断点续飞的经纬度信息输入错误","1560":"断点续飞的航点 yaw 输入错误","1561":"断点续飞的标志位设置错误","1563":"航线生成失败","1564":"航线运行失败","1565":"航线避障紧急刹停","1588":"无法识别的动作类型","1595":"动作 ID 不能重复","1598":"动作 ID 值不能为 65535","1602":"动作组数量超过合理范围","1603":"动作组生效范围错误","1606":"断点续飞中动作 index 超过合理范围","1608":"断点信息中触发器运行结果异常","1609":"断点续飞中动作组 ID 信息不能重复","1610":"断点续飞中动作组位置不能重复","1611":"断点续飞中动作组位置超过合理范围","1612":"续飞中动作 ID 不在断点信息中","1613":"断点续飞中不能修改动作状态为中断","1614":"断点信息错误导致续飞失败","1634":"无法识别的动作类型","1649":"无法识别的触发器类型","65534":"未知内部错误","65535":"未知内部错误"}
»»latitude	断点纬度	float	{"max":"90","min":"-90","step":"","unit_name":"度 / °"}
»»longitude	断点经度	float	{"max":"180","min":"-180","step":"","unit_name":"度 / °"}
»»height	断点相对地球椭球面高度	float	{"unit_name":"米 / m"}
»»attitude_head	断点偏航轴角度	float
»wayline_id	当前在作业的航线 ID	int		包括进入航线的过渡阶段，例如0代表飞行器正在进入或者已经在执行第一条航线
status	任务状态	enum_string	{"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","partially_done":"部分完成","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"}
progress	进度	struct
»current_step	执行步骤	enum_int	{"0":"初始状态","1":"启动前检查，飞行器是否在执行航线中","2":"启动前检查，机场是否退出工作模式","3":"启动前检查，航线执行中","4":"启动前检查，返航中","5":"航线执行进入准备状态，开始等待任务下发","6":"机场进入工作状态","7":"进入开机检查准备工作和开盖准备工作","8":"图传远程对频","9":"等待飞行系统准备就绪，推送连接建立","10":"等待 RTK 源监听有值上报","11":"检查 RTK 源是否是机场源，如果不是要重新设置","12":"等待飞行控制权通知","13":"机场无控制权，抢夺飞行器控制权","14":"自定义飞行区一致性检查","15":"离线地图一致性检查","16":"获取最新 KMZ URL","17":"下载 KMZ","18":"KMZ 上传中","19":"染色配置","20":"飞行器起飞参数设置，备降点设置，起飞高度设置，染色设置","21":"飞行器 flyto 起飞参数设置","22":"起飞机场检查降落机场准备状态","23":"Home 点设置","24":"触发执行航线","26":"进入返航的检查准备工作","27":"飞行器降落机场","28":"降落以后的关盖","29":"机场退出工作模式","30":"机场异常恢复","31":"机场上传飞行系统日志","32":"相机录像状态检查","33":"获取媒体文件数量","34":"机场起飞开盖的异常恢复","35":"通知任务结果","36":"日志列表拉取 - 飞行器列表","37":"日志列表拉取 - 拉取机场列表","38":"日志列表拉取 - 上传日志列表结果","39":"日志拉取-拉取飞行器日志","40":"日志拉取-拉取机场日志","41":"日志拉取-压缩飞行器日志","42":"日志拉取-压缩机场日志","43":"日志拉取-上传飞行器日志","44":"日志拉取-上传机场日志","45":"日志拉取-通知结果","46":"自定义飞行区文件更新准备中","47":"自定义飞行区更新中","48":"离线地图更新准备中","49":"离线地图更新中","65533":"结束后等待服务回包","65534":"无具体状态","65535":"UNKNOWN"}
»percent	进度值	int	{"max":"100","min":"0","step":"1"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "output": {
      "ext": {
        "break_point": {
          "attitude_head": 30,
          "break_reason": 1,
          "height": 100.23,
          "index": 1,
          "latitude": 23.4,
          "longitude": 113.99,
          "progress": 0.34,
          "state": 0,
          "wayline_id": 0
        },
        "current_waypoint_index": 3,
        "flight_id": "flight_id",
        "media_count": 6,
        "track_id": "track_id",
        "wayline_id": 0,
        "wayline_mission_state": 9
      },
      "progress": {
        "current_step": 19,
        "percent": 100
      },
      "status": "ok"
    },
    "result": 0
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "flighttask_progress"
}

设备返航退出状态通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: device_exit_homing_notify

Data:

Column	Name	Type	constraint	Description
sn	机场 SN	text	{}
action	退出返航通知消息类型	enum_int	{"0":"退出”返航退出状态“","1":"进入”返航退出状态“"}	进入“返航退出状态”，指当机场处于返航模式时，由于 reason 字段中展示的原因，退出了返航过程。相似的，退出“返航退出状态”，指机场停止了退出返航这一过程。
reason	退出返航原因	enum_int	{"0":"操纵杆油门添加","1":"操纵杆间距添加","2":"行为树初始化失败","3":"被障碍物包围","4":"触发限飞限制","5":"障碍物距离太近","6":"无 GPS 信号","7":"GPS 和 VIO 位置输出标志为 false","8":"GPS 和 VIO 融合位置误差太大","9":"短距离回溯","10":"近距离触发返航"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "action": 1,
    "reason": "0",
    "sn": "机场 SN"
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp:": 1654070968655,
  "method": "device_exit_homing_notify"
}

空中下发航线状态上报

Method: in_flight_wayline_progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Data:

Column	Name	Type	Constraint	Description
in_flight_wayline_id	航线任务ID	string		空中航线任务的唯一标识符
progress	任务进度	object		任务进度信息
progress.percent	完成百分比	int	{min: 0, max: 100}	任务完成百分比
status	任务状态码	int		状态码说明：status: 1: 上传文件中 (wayline_uploading) 2: 文件上传成功 (wayline_uploaded) 3: 执行任务中 (wayline_progress) 4: 任务暂停 (wayline_paused) 5: 任务取消 (wayline_cancel) 6: 任务成功 (wayline_ok) 7: 任务失败 (wayline_failed)任务失败时的错误码8: 任务超时
result	错误原因码	int
way_point_index	当前航点索引	int		当前执行的航点索引

Example:

{
  "in_flight_wayline_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "progress": {
    "percent": 100
  },
  "status": 0,
  "result": 0,
  "way_point_index": 0
}

Service

执行任务

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	计划 ID	text
multi_dock_task	蛙跳任务参数	struct
»wireless_link_topo	图传连接拓扑	struct
»»secret_code	加密编码	array	{"size": 28, "item_type": int}	从飞行器的设备属性中获取
»»center_node	飞行器对频信息	struct		从飞行器的设备属性中获取
»»»sdr_id	扰码信息	int
»»»sn	设备sn	text
»»leaf_nodes	机场或遥控器对频信息，组装执行蛙跳任务的对应机场属性	array	{"size": -, "item_type": struct}
»»»sdr_id	扰码信息	int
»»»sn	设备sn	text
»»»control_source_index	控制源序号	int	{"max":"2","min":"1","step":"1","unit_name":"无 / "}
»dock_infos	机场信息	array	{"size": 2, "item_type": struct}	执行本次蛙跳任务的机场信息，除了dock_type需要指定外，其他字段均可从设备属性上报中直接获取
»»dock_type	机场在蛙跳任务中的角色	enum_string	{"landing":"降落","takeoff":"起飞机场"}
»»latitude	纬度	double	{"max":"90","min":"-90","step":"0.01"}	机场纬度，可从机场设备属性中获取
»»longitude	经度	double	{"max":"180","min":"-180","step":"0.01"}	机场经度，可从机场设备属性中获取
»»height	椭球高度	double	{"unit_name":"米 / m"}	机场高度，可从机场设备属性中获取
»»heading	机场朝向角	double	{"max":"180","min":"-180","step":"","unit_name":"度 / °"}	机场朝向角，可从机场设备属性中获取
»»home_position_is_valid	机场home点有效性	enum_int	{"0":"无效","1":"有效"}	可从机场设备属性中获取
»»index	机场任务唯一性标识	int	{"max":"31","min":"1"}	给机场分配的序号，单次任务中保持唯一且最好长期固定使用
»»sn	机场SN	text
»»rtcm_info	机场RTK标定源	struct
»»»mount_point	网络RTK挂载点信息	text
»»»port	网络端口信息	text
»»»host	网络host信息	text
»»»rtcm_device_type	设备类型	enum_int	{"1":"机场"}
»»»source_type	标定类型	enum_int	{"0":"未标定","1":"自收敛标定","2":"手动标定","3":"网络RTK标定"}
»»alternate_land_point	备降点	struct
»»»longitude	经度	float	{}
»»»latitude	纬度	float	{}
»»»height	椭球高度	float	{}
»»»safe_land_height	安全高度(备降转移高)	float	{}
»»»is_configured	是否设置备降点	enum_int	{"0":"未设置","1":"已设置"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_id": "aee739dc-f1cc-47d5-beaa-64d327f2d797",
    "multi_dock_task": {
      "dock_infos": [
        {
          "alternate_land_point": {
            "height": 0,
            "is_configured": 1,
            "latitude": 37.348792490321514,
            "longitude": 116.52867090782102,
            "safe_land_height": 30
          },
          "dock_type": "takeoff",
          "heading": -78.7066650390625,
          "height": 30.81130027770996,
          "home_position_is_valid": 1,
          "index": 1,
          "latitude": 37.3487657248638,
          "longitude": 116.52893686422743,
          "rtcm_info": {
            "host": "120.253.226.97",
            "mount_point": "RTCM33_GRCEJ",
            "port": "8002",
            "rtcm_device_type": 1,
            "source_type": 3
          },
          "sn": "7CTDM5900B3X1B"
        },
        {
          "alternate_land_point": {
            "height": 0,
            "is_configured": 1,
            "latitude": 37.336024417709915,
            "longitude": 116.554075635852,
            "safe_land_height": 30
          },
          "dock_type": "landing",
          "heading": -69.79183197021484,
          "height": 32.31420135498047,
          "home_position_is_valid": 1,
          "index": 2,
          "latitude": 37.33605462094235,
          "longitude": 116.55416413516038,
          "rtcm_info": {
            "host": "120.253.226.97",
            "mount_point": "RTCM33_GRCEJ",
            "port": "8002",
            "rtcm_device_type": 1,
            "source_type": 3
          },
          "sn": "7CTDM5900BK07M"
        }
      ],
      "wireless_link_topo": {
        "center_node": {
          "sdr_id": 933765657,
          "sn": "1581F6Q8D245P00EKS87"
        },
        "leaf_nodes": [
          {
            "control_source_index": 1,
            "sdr_id": 920128532,
            "sn": "7CTDM5900B3X1B"
          },
          {
            "control_source_index": 2,
            "sdr_id": 911741468,
            "sn": "7CTDM5900BK07M"
          }
        ],
        "secret_code": [
          0,
          0,
          0,
          0,
          1,
          0,
          0,
          0,
          123,
          114,
          19,
          203,
          192,
          100,
          244,
          160,
          146,
          228,
          196,
          213,
          105,
          220,
          176,
          147,
          87,
          182,
          90,
          210
        ]
      }
    }
  },
  "method": "flighttask_execute",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1720095314016
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_execute

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": 1234567890123,
  "method": "flighttask_execute"
}

指定home点的返航

蛙跳任务中，需要指定一个机场作为返航目的地时使用

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_specific_home

Data:

Column	Name	Type	constraint	Description
home_dock_sn	返航的目的机场SN	text

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "home_dock_sn": "xxxxxxxx"
  },
  "method": "return_specific_home",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_specific_home

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
  },
  "method": "return_specific_home",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1695634358385
}

任务终止

蛙跳任务中，当一个机场上报任务结束后，需要下发此指令到另一机场结束任务

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
flight_id	任务id	text
reason	结束原因	enum_int	{"0":"正常结束","1":"另一机场状态机异常"}

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	返回码	int		非 0 代表错误

Example:

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

取消返航

返航后，飞行器会退出航线模式，此时取消返航，飞行器会悬停

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home_cancel

Data: null

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home_cancel

Data:

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
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "return_home_cancel"
}

一键返航

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误
output	输出	struct
»status	任务状态	enum_string	{"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"}

航线恢复

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_recovery

Data: null

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_recovery

Data:

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
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "flighttask_recovery"
}

航线暂停

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_pause

Data: null

Example:

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

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_pause

Data:

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
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "flighttask_pause"
}

取消任务

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
flight_ids	计划 ID	array	{"size": -, "item_type": text}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_ids": [
      "aaaaaaa",
      "bbbbbbb"
    ]
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123,
  "method": "flighttask_undo"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_undo

Data:

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": 1234567890123,
  "method": "flighttask_undo"
}

下发任务

若用户的云服务无法访问外网，需实现 配置更新 功能，下发可被云服务访问的 NTP 服务的 URL，以实现时钟同步，否则航线任务将无法正常执行。

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
flight_id	计划 ID	text
execute_time	开始执行时间	int	{"length":13}	任务开始执行时间毫秒时间戳。可选字段。当 task_type 为 0 或 1 时必填，为 2 时非必填。
task_type	任务类型	enum_int	{"0":"立即任务","1":"定时任务","2":"条件任务"}	立即任务和定时任务均由execute_time指定执行时间；条件任务支持ready_conditions字段指定任务就绪条件，设备可在指定时间段内满足就绪条件后即可执行；立即任务媒体上传优先级最高，定时任务和条件任务媒体上传优先级相同
file	航线文件对象	struct
»url	文件 URL	text
»fingerprint	文件签名	text		文件内容 MD5 签名
ready_conditions	任务就绪条件	struct		可选字段。条件任务（即 task_type 为2）时必填，其他类型任务会忽略该字段。下发条件任务后，设备会定频检查 ready_conditions 是否全部满足，若全部满足则会有 flighttask_ready 事件通知。且设备端接收 flighttask_execute 指令时，也会检查任务的 ready_conditions 是否已全部满足。
»battery_capacity	电池容量	int		可执行任务的飞行器电池电量百分比阈值，任务开始执行时的飞行器电量必须大于 battery_capacity。
»begin_time	任务可执行时段的开始时间	int	{"length":13}	任务可执行时段起始时间毫秒时间戳，任务开始执行的时间必须大于 begin_time。
»end_time	任务可执行时段的结束时间	int	{"length":13}	任务可执行时段截止时间毫秒时间戳，任务开始执行的时间必须小于 end_time。
executable_conditions	任务执行条件	struct		可选字段，用于在设备端增加任务执行的前置检查条件，存在任一条件不满足时会执行失败
»storage_capacity	存储容量	int		可执行任务的机场或飞行器最低存储容量，机场或飞行器存储容量不满足 storage_capacity 时，任务执行失败。
break_point	航线断点信息	struct		可选字段，用于断点续飞，若指定该字段，航线任务会从字段指定的断点位置开始执行。
»index	断点序号	int
»state	断点状态	enum_int	{"0":"在航段上","1":"在航点上"}
»progress	当前航段进度	float	{"max":"1.0","min":"0"}
»wayline_id	航线 ID	int
rth_altitude	返航高度	int	{"max":1500,"min":20,"unit_name":"米 / m"}
rth_mode	返航高度模式	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
out_of_control_action	遥控器失控动作	enum_int	{"0":"返航","1":"悬停","2":"降落"}	失控动作，当前固定传的值是 0，即返航。注意该枚举值定义跟飞控跟机场定义的不一致，机场端会进行转换。
exit_wayline_when_rc_lost	航线失控动作	enum_int	{"0":"继续执行航线任务","1":"退出航线任务，执行遥控器失控动作"}	保持跟 KMZ 文件一致
wayline_precision_type	航线精度类型	enum_int	{"0":"GPS 任务","1":"高精度 RTK 任务"}	高精度 RTK 任务：飞行器起飞后会在空中等待 RTK 收敛后再执行任务，等待 RTK 收敛的过程中无法暂停任务。默认场景建议使用该模式。GPS 任务：飞行器无需等待 RTK 收敛便可以直接开始执行。精度要求不高的任务或对起飞时效性要求较高的任务建议使用该模式。
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。 >注意：进行模拟飞行前，请务必取下桨叶，以防舱盖关闭时夹断桨叶。
»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"}
flight_safety_advance_check	飞行安全预检查	bool	{"0":"关闭","1":"开启"}	设置一键起飞和航线任务中的飞行安全是否预先检查。此字段为可选，默认为0，值为0表示关闭，1表示开启。飞行安全预先检查表示: 飞行器执行任务前，检查自身作业区文件是否与云端一致，如果不一致则拉取文件更新，如果一致则不处理

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "break_point": {
      "index": 1,
      "progress": 0.34,
      "state": 0,
      "wayline_id": 0
    },
    "executable_conditions": {
      "storage_capacity": 1000
    },
    "execute_time": 1234567890123,
    "exit_wayline_when_rc_lost": 0,
    "file": {
      "fingerprint": "xxxx",
      "url": "https://xxx.com/xxxx"
    },
    "flight_id": "xxxxxxx",
    "flight_safety_advance_check": 1,
    "out_of_control_action": 0,
    "ready_conditions": {
      "battery_capacity": 90,
      "begin_time": 1234567890123,
      "end_time": 1234567890123
    },
    "rth_altitude": 100,
    "simulate_mission": {
      "is_enable": 1,
      "latitude": 22.1223,
      "longitude": 113.2222
    },
    "task_type": 2,
    "wayline_precision_type": 0
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123,
  "method": "flighttask_prepare"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_prepare

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": 1234567890123,
  "method": "flighttask_prepare"
}

创建航线任务（废弃）

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_create

Data:

Column	Name	Type	constraint	Description
flight_id	计划 ID	text
type	任务类型	text
file	航线文件对象	struct
»url	文件 URL	text
»sign	MD5 签名	text

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "file": {
      "sign": "xxxx",
      "url": "https://xxx.com/xxxx"
    },
    "flight_id": "xxxxxxx",
    "type": "wayline"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp:": 1654070968655,
  "method": "flighttask_create"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_create

Data:

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": "flighttask_create"
}

空中下发航线

飞行器处于空中飞行时，可以下发一些文件体积较小的航线

Method: in_flight_wayline_deliver

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	请求标识	string		请求的唯一标识符
tid	任务标识	string		任务的唯一标识符
timestamp	时间戳	int64		请求的时间戳
method	方法名	string		固定为 in_flight_wayline_deliver
data	数据	object		下发航线的具体数据
data.file	文件信息	object		航线文件信息
data.file.fingerprint	文件指纹	string		用于校验文件完整性
data.file.url	文件下载地址	string		航线文件的下载地址
data.in_flight_wayline_id	航线任务ID	string		空中航线任务的唯一标识符
data.out_of_control_action	失控动作	int	{0: "返航", 1: "悬停", 2: "降落"}	遥控器失控时的动作
data.exit_wayline_when_rc_lost	失联动作	int	{0: "继续执行", 1: "执行飞控失控动作"}	航线失联时的动作
data.rth_altitude	返航高度	int	{min: 20, max: 1500}	返航高度，单位：米
data.rth_mode	返航模式	int	{0: "智能高度", 1: "设定高度"}	返航高度模式
data.wayline_precision_type	航线精度类型	int	{0: "GPS任务", 1: "高精度RTK任务"}	航线精度类型

Example:

{
  "bid": "d26db6b4-3bb0-432c-bdb2-a8e53c827b72",
  "tid": "a5d95abe-e99c-4931-95cc-e2f3fdbc488f",
  "timestamp": 1731135221528,
  "method": "in_flight_wayline_deliver",
  "data": {
    "file": {
      "fingerprint": "7a7cea5060c55920b7619a2a981f2223",
      "url": "XXXX"
    },
    "in_flight_wayline_id": "f2b31c13-3fce-4a7e-b188-87a78ff2f8a6",
    "out_of_control_action": 1,
    "exit_wayline_when_rc_lost": 0,
    "rth_altitude": 120,
    "rth_mode": 1,
    "wayline_precision_type": 1
  }
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Data:

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

Example:

{
  "result": 0
}

暂停空中航线

Method: in_flight_wayline_stop

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	请求标识	string		请求的唯一标识符
tid	任务标识	string		任务的唯一标识符
timestamp	时间戳	int64		请求的时间戳
method	方法名	string		固定为 in_flight_wayline_stop
data	数据	object		暂停航线的具体数据
data.in_flight_wayline_id	航线任务ID	string		空中航线任务的唯一标识符

Example:

{
  "bid": "bf1d9985-5077-4ea5-9f2b-44edbcde9a11",
  "tid": "9da675b5-0a87-4b89-9813-4fb2e3aac4ec",
  "timestamp": 1731136137237,
  "method": "in_flight_wayline_stop",
  "data": {
    "in_flight_wayline_id": "36747381-4886-4ed0-9b2b-2919d6d4863c"
  }
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Data:

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

Example:

{
  "result": 0
}

恢复空中航线

Method: in_flight_wayline_recover

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	请求标识	string		请求的唯一标识符
tid	任务标识	string		任务的唯一标识符
timestamp	时间戳	int64		请求的时间戳
method	方法名	string		固定为 in_flight_wayline_recover
data	数据	object		恢复航线的具体数据
data.in_flight_wayline_id	航线任务ID	string		空中航线任务的唯一标识符

Example:

{
  "bid": "8fd307b9-6a70-465c-aeb7-5edac860017b",
  "tid": "b3a76306-2576-4bc5-9a55-77e4f8f3b17c",
  "timestamp": 1731136244583,
  "method": "in_flight_wayline_recover",
  "data": {
    "in_flight_wayline_id": "36747381-4886-4ed0-9b2b-2919d6d4863c"
  }
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Data:

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

Example:

{
  "result": 0
}

取消空中航线

Method: in_flight_wayline_cancel

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	请求标识	string		请求的唯一标识符
tid	任务标识	string		任务的唯一标识符
timestamp	时间戳	int64		请求的时间戳
method	方法名	string		固定为 in_flight_wayline_cancel
data	数据	object		取消航线的具体数据

Example:

{
  "bid": "8fd307b9-6a70-465c-aeb7-5edac860017b",
  "tid": "b3a76306-2576-4bc5-9a55-77e4f8f3b17c",
  "timestamp": 1731136244583,
  "method": "in_flight_wayline_cancel",
  "data": {}
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Data:

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

Example:

{
  "result": 0
}

Requests

机场任务状态获取

蛙跳任务中，机场需要请求另一机场的任务执行状态

Topic: thing/product/{gateway_sn}/requests

Direction: up

Method: flighttask_progress_get

Data:

Column	Name	Type	constraint	Description
target_sn	目标设备sn	text
flight_id	目标航线任务uuid	text

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "target_sn": "xxx"
  },
  "gateway": "xxx",
  "method": "flighttask_progress_get",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123
}

Topic: thing/product/{gateway_sn}/requests_reply

Direction: down

Method: flighttask_progress_get

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误
output	输出	struct
»flight_id	设备最新当前任务id	text
»progress	任务进度	struct		字段枚举值同上报航线任务进度flighttask_progress中progress字段
»»current_step	执行步骤	int
»»percent	执行进度	int	{"max":"100","min":"0","step":"","unit_name":null}
»status	任务状态	text		字段枚举值同上报航线任务进度flighttask_progress中status字段

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "output": {
      "flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
      "progress": {
        "current_step": 27,
        "percent": 90
      },
      "status": "in_progress"
    },
    "result": 0
  },
  "gateway": "xxx",
  "method": "flighttask_progress_get",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 0
}

任务资源获取

Topic: thing/product/{gateway_sn}/requests

Direction: up

Method: flighttask_resource_get

Data:

Column	Name	Type	constraint	Description
flight_id	计划 ID	text

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_id": "xxxxxxx"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123,
  "method": "flighttask_resource_get"
}

Topic: thing/product/{gateway_sn}/requests_reply

Direction: down

Method: flighttask_resource_get

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误
output	输出	struct
»file	航线文件对象	struct
»»url	文件 URL	text
»»fingerprint	文件签名	text		文件 MD5 签名

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "output": {
      "file": {
        "fingerprint": "signxxxx",
        "url": "https://xx.oss-cn-hangzhou.aliyuncs.com/xx.kmz?Expires=xx&OSSAccessKeyId=xxx&Signature=xxx"
      }
    },
    "result": 0
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1234567890123,
  "method": "flighttask_resource_get"
}