Multi-Dock Task [In Adaptation]

Feature Overview

Some Docks support issuing multi-dock tasks. By configuring the takeoff Dock and the landing Dock through the task execution command, the aircraft can take off from and land on different Docks.

Issuing the Multi-Dock Task Command

When the task issuing stage is reached according to the sequence diagram, if both the takeoff and landing Docks respond successfully, you can issue the flighttask_execute command to start the multi-dock task. The key parameters in the flighttask_execute command are described below. A new multi_dock_task field is added to configure and validate the takeoff and landing Dock parameters, where:

• The dock_infos field contains the takeoff and landing Dock parameters. The two Docks selected to execute the multi-dock task must be set as the takeoff Dock and the landing Dock respectively.
  • For the takeoff Dock, set the dock_type field to "takeoff", set the sn field to the takeoff Dock's device serial number, set the index field to the unique identifier of that Dock within this task, and fill the remaining fields with the latest reported values of the corresponding device properties of that takeoff Dock.
  • For the landing Dock, set the dock_type field to "landing". The other fields are filled in the same way as for the takeoff Dock, and you must ensure the index values are not duplicated.
• The wireless_link_topo field assembles the frequency pairing information of the three devices required to pair the aircraft with the two Docks. The secret_code and center_node fields are filled with the corresponding field values from the aircraft device property wireless_link_topo. The leaf_nodes field must distinguish between the frequency pairing information of the takeoff Dock and the landing Dock and fill them in separately; the sdr_id and sn fields are filled with the takeoff Dock and the landing Dock respectively. The control_source_index field of the takeoff Dock comes from the Dock device property, and the control_source_index of the landing Dock must be the opposite of the takeoff Dock's. For example, if the takeoff Dock reports a control_source_index of 1, then fill in 2 for this parameter on the landing Dock, and vice versa.

Note:

• The two Docks executing the multi-dock task must be calibrated using a network RTK service from the same source, and it is recommended to select "High-Precision RTK Task" for the wayline precision type wayline_precision_type; otherwise there is a risk of crashing the aircraft.
• You must ensure that an aircraft is present in the takeoff Dock at the moment the multi-dock task is executed.
• During the execution of the multi-dock task, if the aircraft triggers the return-to-home logic or the user manually issues a return-to-home command, the aircraft will autonomously select the return-to-home target Dock based on the battery level and the Dock locations. The planned landing Dock has higher priority than the takeoff Dock, and the aircraft will by default use the planned landing Dock as the return-to-home target Dock. Only when the planned landing Dock is unreachable will the takeoff Dock be used as the return-to-home target Dock. If, during wayline execution, the user wants to designate a specific Dock as the return-to-home target Dock, the newly added protocol return_specific_home can be used.
• During the execution of the multi-dock task, if an altitude limit zone is encountered, the aircraft will return to home and execute the default return-to-home logic. The altitude is determined relative to the takeoff Dock, while the logic for other restricted flight zones is consistent with that of a normal wayline task.
• During the execution of the multi-dock task, the {gateway_sn} in the Topic for issuing the aircraft live streaming command live_start_push must be based on the best_link_gateway field currently reported by the aircraft. Moreover, to keep the aircraft's video stream continuous, when the aircraft's best_link_gateway property changes, you must re-issue the live_start_push command using the gateway sn pushed in the latest best_link_gateway property as the {gateway_sn} in the Topic of the live_start_push command.
• During the execution of the multi-dock task, for downlink commands issued to the aircraft, such as pause/resume/return-to-home commands, the {gateway_sn} in the command's Topic must be based on the best_link_gateway currently reported by the aircraft, consistent with the live streaming command.
• When executing the multi-dock task, once the takeoff and landing Docks have been set, the connection of Controller B will be preempted and disconnected.

Interaction Sequence Diagram

IoT represents the IoT layer on the server side, used for device access, maintaining device status. Task Service represents the upper-layer business system on the server side, used for device task management and issuing task commands.

Detailed Interface Implementation

• Dock device properties
  • wireless_link_topo (required)
  • rtcm_info (required)
  • latitude (required)
  • longitude (required)
  • height (required)
  • heading (required)
  • home_position_is_valid (required)
  • alternate_land_point (required)
• Aircraft device properties
  • wireless_link_topo (required)
  • best_link_gateway
• Wayline Management
  • Service
    • flighttask_execute (required)
    • flighttask_stop (required)
    • return_specific_home
  • Requests
    • flighttask_progress_get (required)
  • Events
    • return_home_info