Live Flight Controls

Event

Flyto execution result event notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto target point ID	text
status	State	enum_string	{"wayline_cancel":"Cancel flying to target point","wayline_failed":"Execution failed","wayline_ok":"Executed successfully, flown to target point","wayline_progress":"Executing"}
result	Return code	int		Non-zero represents an error
way_point_index	Currently executing the nth waypoint	int
remaining_distance	Remaining mission distance	float	{"step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"step":0.1,"unit_name":"Seconds / s"}
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point	double	{"max":90,"min":-90}	Latitude of the trajectory point, angle value, negative for south latitude, positive for north latitude, accurate to 6 decimal places
»longitude	Longitude of the trajectory point	double	{"max":180,"min":-180}	Longitude of the trajectory point, angle value, east longitude is positive, west longitude is negative, accurate to 6 decimal places
»height	Trajectory point height	float	{"step":0.1,"unit_name":"Meters / m"}	Trajectory point height, ellipsoid height

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"
}

One-key takeoff result event notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	constraint	Description
status	Task state	enum_string	{"task_finish":"One-key takeoff mission completed","task_ready":"Ready for takeoff","wayline_cancel":"Cancel flying to target point","wayline_failed":"Execution failed","wayline_ok":"Executed successfully, flown to target point","wayline_progress":"Executing"}
result	Return code	int		Non-zero represents an error
flight_id	One-key takeoff mission UUID	text
track_id	Track ID	text
way_point_index	Currently executing the nth waypoint	int
remaining_distance	Remaining mission distance	float	{"step":0.1,"unit_name":"Meters / m"}
remaining_time	Remaining mission time	float	{"step":0.1,"unit_name":"Seconds / s"}
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point	double	{"max":90,"min":-90}	Latitude of the trajectory point, angle value, negative for south latitude, positive for north latitude, accurate to 6 decimal places
»longitude	Longitude of the trajectory point	double	{"max":180,"min":-180}	Longitude of the trajectory point, angle value, east longitude is positive, west longitude is negative, accurate to 6 decimal places
»height	Trajectory point height	float	{"step":0.1,"unit_name":"Meters / m"}	Trajectory point height, ellipsoid height

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "planned_path_points": [
      {
        "height": 123.234,
        "latitude": 13.23,
        "longitude": 123.234
      }
    ],
    "remaining_distance": 0,
    "remaining_time": 0,
    "result": 0,
    "status": "wayline_ok",
    "track_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "way_point_index": 1
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 16540709686556,
  "method": "takeoff_to_point_progress"
}

DRC link state notification (Deprecated)

Note: This protocol is no longer maintained and is inaccurate. For more accurate DRC link status, use the device property "drc_state" reported by the Dock or the "DRC heartbeat".

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: drc_status_notify

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error
drc_state	DRC state	enum_int	{"0":"Not connected","1":"Connecting","2":"Connected"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "drc_state": 2,
    "result": 0
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "drc_status_notify"
}

DRC - flight control invalidity reason notification

DRC - flight control is an integrated drone control feature. If it is unavailable, the flight control capability cannot be used.

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: joystick_invalid_notify

Data:

Column	Name	Type	constraint	Description
reason	Task state	int	{"0":"Remote controller lost connection","1":"Low battery return","2":"Low battery landing","3":"Close to the flight restriction zone","4":"Remote controller takes over control authority (for example, return triggered, Controller B takes over)"}

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"
}

Report capture progress

When a photo-capturing action needs to continue, this event reports the progress. Currently only supported in: panorama photo mode

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: camera_photo_take_progress

Data:

Column	Name	Type	constraint	Description
output	Output	struct
»status	Capturing state	enum_string	{"fail":"Failed","in_progress":"Executing","ok":"Completed"}
»progress	Progress	struct
»»current_step	Execution step	enum_int	{"3000":"Panorama photo capturing has not started or has finished","3002":"Panorama photo is capturing","3005":"Panorama photo is synthesizing"}
»»percent	Progress value	int	{"max":"100","min":"0","step":"1"}
»ext	Extended content	struct
»»camera_mode	Current camera mode	enum_int	{"3":"Panorama"}
result	Return code	int		Non-zero represents an error

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "output": {
      "ext": {
        "camera_mode": 3
      },
      "progress": {
        "current_step": 0,
        "percent": 100
      },
      "status": "ok"
    },
    "result": 0
  },
  "need_reply": 1,
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_photo_take_progress"
}

Service

Grabbing flight control authority

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	Return code	int		Non-zero represents an error

Example:

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

Grabbing payload control authority

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
payload_index	Payload enumeration value	text		Enumeration of camera payload and mounting position. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "payload_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Enter Live Flight Controls Mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
mqtt_broker	Broker connection information	struct		Get the address and authentication information of the MQTT relay service
»address	Server connection address	text		Server connection address, for example: 192.0.2.1:8883, mqtt.dji.com:8883
»client_id	Client ID	text		Customizable MQTT client ID. It is recommended to use the device's SN, which can also be combined with a meaningful prefix, for example, drc-4J4R101
»username	Username	text		Username used when establishing the connection
»password	Password	text		Password required for authentication when establishing the connection
»expire_time	Authentication information expiration time	int	{"unit_name":"Seconds / s"}	Authentication information can be reused within the validity period. In addition, the expiration of authentication information does not affect devices that have already established a connection
»enable_tls	Whether to enable TLS	bool		Enabling TLS encrypts the MQTT link
osd_frequency	OSD frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set the OSD reporting frequency
hsi_frequency	HSI frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set the HSI reporting frequency

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "hsi_frequency": 1,
    "mqtt_broker": {
      "address": "mqtt.dji.com:8883",
      "client_id": "sn_a",
      "enable_tls": true,
      "expire_time": 1672744922,
      "password": "jwt_token",
      "username": "sn_a_username"
    },
    "osd_frequency": 10
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "drc_mode_enter"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Exit Live Flight Controls Mode

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	Return code	int		Non-zero represents an error

Example:

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

One-Key Takeoff

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
target_latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
target_longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
target_height	Target point height	float	{"max":1500,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoidal height), using the WGS84 model. Default behavior after the aircraft reaches the point: hovering
security_takeoff_height	Safe takeoff height	float	{"max":1500,"min":20,"step":0.1,"unit_name":"Meters / m"}	Altitude relative to the (Dock) takeoff point (ALT). The aircraft first ascends to a specific height, then flies toward the target point.
rth_mode	[Required] Return home mode setting value	enum_int	{"0":"Intelligent altitude","1":"Preset altitude"}	In intelligent return home mode, the aircraft will automatically plan the optimal return home altitude. The DJI Dock currently does not support setting the return home altitude mode and can only choose the 'Preset altitude' mode. When the environment or lighting does not meet the requirements of the visual system (such as direct sunlight in the evening, weak or no light at night), the aircraft will use the return home altitude you set for straight-line return home
rth_altitude	Return home altitude	int	{"max":1500,"min":2,"step":1,"unit_name":"Meters / m"}	Altitude relative to the (Dock) takeoff point, relative altitude ALT
rc_lost_action	Remote controller lost control action	enum_int	{"0":"Hovering","1":"Landing","2":"Returning to home"}	Remote controller lost control action
commander_mode_lost_action	[Required] To-point flight loss of control action	enum_int	{"0":"Continue with the to-point flight mission","1":"Exit the to-point flight mission and perform normal loss of control behavior"}
commander_flight_mode	[Required] To-point flight mode setting value	enum_int	{"0":"Intelligent altitude flight","1":"Preset altitude flight"}
commander_flight_height	[Required] To-point flight height	float	{"max":3000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Altitude relative to the (Dock) takeoff point, relative altitude ALT
flight_id	One-key takeoff mission UUID	text		Mission UUID, globally unique, used for coloring so that the cloud can distinguish whether this value is a regular planned mission or a one-key takeoff mission
max_speed	Maximum speed achievable during the one-key takeoff flight	int	{"max":15,"min":1,"unit_name":"Meters per second / m/s"}
simulate_mission	Whether to execute the mission in the simulator	struct		Optional field, used for simulated mission debugging indoors. >Note: Before performing simulated flights, be sure to remove the propellers to prevent them from being cut off when the dock cover closes.
»is_enable	Whether to enable the simulator mission	enum_int	{"0":"Do not enable","1":"Enable"}	Turn the simulator on or off for this mission
»latitude	Latitude	double	{"max":"90.0","min":"-90.0"}
»longitude	Longitude	double	{"max":"180.0","min":"-180.0"}
flight_safety_advance_check	Flight safety pre-check	bool	{"0":"Closed","1":"Opened"}	Set whether flight safety is pre-checked during one-key takeoff and wayline missions. This field is optional and defaults to 0; a value of 0 means closed, and 1 means opened. Flight safety pre-check means: before the aircraft executes a mission, it checks whether its own operating area file is consistent with the cloud; if inconsistent, it pulls the updated file; if consistent, it does nothing

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "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,
    "commander_mode_lost_action": 1,
    "commander_flight_height": 80,
    "flight_safety_advance_check": 1
  },
  "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	Return code	int		Non-zero represents an error

Example:

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

flyto Fly to Target Point

Special note: The aircraft has a minimum flight altitude (20m) safety guarantee mechanism. If the altitude of the aircraft relative to the takeoff point is lower than 20m, it will first ascend to 20m.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
fly_to_id	Fly to target point ID	text
max_speed	Maximum speed achievable during the flyto flight	int	{"max":15,"min":0,"unit_name":"Meters per second / m/s"}
points	List of flyto target points	array	{"size": -, "item_type": struct}	Only supports 1 target point
»latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
»longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
»height	Target point height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoidal height), using the WGS84 model

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	Return code	int		Non-zero represents an error

Example:

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

Stop the flyto Fly to Target Point Task

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	Return code	int		Non-zero represents an error

Example:

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

Update the flyto Target Point

During the process of one-key takeoff or flyto fly to target point, the target point can be quickly updated through this command

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
max_speed	Maximum speed achievable during the live flight controls flight	int	{"max":15,"min":1,"unit_name":"Meters per second / m/s"}
points	List of updated target points	array	{"size": -, "item_type": struct}	Only supports 1 target point
»latitude	Target point latitude	double	{"max":90,"min":-90}	Target point latitude, in degree values. Negative for south, positive for north. Precision up to 6 decimal places
»longitude	Target point longitude	double	{"max":180,"min":-180}	Target point longitude, in degree values. Positive for east, negative for west. Precision up to 6 decimal places
»height	Target point height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"Meters / m"}	Target point height (ellipsoidal height), using the WGS84 model

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	Return code	int		Non-zero represents an error

Example:

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

Payload control - subject zoom

The subject zoom function enables you to select and frame a target area within the camera lens's field of view. When activated, the camera screen will automatically switch to the target frame, zoom in, and rotate the gimbal.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}
locked	Whether the relative relationship between the aircraft heading and the gimbal is locked	bool	{"0":"Only the gimbal turns, the aircraft body does not turn","1":"Lock the aircraft heading, the gimbal and the aircraft body turn together"}
x	Upper-left coordinate x of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
y	Upper-left coordinate y of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
width	Width of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}
height	Height of the target frame	float	{"max":"1","min":"0","step":"0.000001","unit_name":"None / "}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "height": 0.2,
    "locked": true,
    "payload_index": "39-0-7",
    "width": 0.2,
    "x": 0.5,
    "y": 0.5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_frame_zoom"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_frame_zoom

Data:

Column	Name	Type	constraint	Description
result	Return code	int

Example:

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

Payload control - Switch Camera Mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support
camera_mode	Camera mode	enum_int	{"0":"Capturing","1":"Recording","2":"Smart Low-Light","3":"Panorama"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_mode": 0,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_mode_switch"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_mode_switch

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Payload control - Start capturing

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_photo_take"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error
output	Output	struct
»status	Task state	enum_string	{"in_progress":"Executing"}	When panorama photo capturing or other persistent photo capturing is in progress, state information will be reported, indicating that further persistent progress events will follow. For details, refer to the camera_photo_take_progress event

Example:

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

Payload control - Stop capturing

Command to stop capturing. Currently, only panorama mode is supported.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_photo_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_stop

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Payload control - Start Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_recording_start"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Payload control - Stop Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. Refer to Product Support

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_recording_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero represents an error

Example:

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

Payload Control—Screen Drag Control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
locked	Whether the relative relationship between the aircraft heading and the gimbal is locked	bool	{"false":"Only the gimbal rotates, the aircraft body does not","true":"Lock the aircraft heading; the gimbal and aircraft body rotate together"}
pitch_speed	Gimbal pitch speed	double	{"unit_name":"degree per second / degree/s"}	Gimbal pitch speed
yaw_speed	Gimbal yaw speed	double	{"unit_name":"degree per second / degree/s"}	Gimbal yaw speed; takes effect only when the aircraft heading is not locked

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "locked": true,
    "payload_index": "39-0-7",
    "pitch_speed": 0.1,
    "yaw_speed": 0.1
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_screen_drag"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload Control—Double-tap to AIM

The double-tap AIM feature: within the field of view of the camera lens, double-tap a target point in the lens, and that target point becomes the center of the lens field of view.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}
locked	Whether the relative relationship between the aircraft heading and the gimbal is locked	bool	{"false":"Only the gimbal rotates, the aircraft body does not","true":"Lock the aircraft heading; the gimbal and aircraft body rotate together"}
x	Target coordinate x	double	{"max":1,"min":0}	Target coordinate x, with the top-left corner of the lens as the coordinate origin and the horizontal direction as x
y	Target coordinate y	double	{"max":1,"min":0}	Target coordinate y, with the top-left corner of the lens as the coordinate origin and the vertical direction as y

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "locked": true,
    "payload_index": "39-0-7",
    "x": 0.5,
    "y": 0.5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_aim"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload Control—Zoom

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
camera_type	Camera type	enum_string	{"ir":"Infrared","wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration
zoom_factor	Zoom factor	double	{"max":200,"min":2}	Zoom factor. Visible light is 2-200; infrared is 2-20

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "payload_index": "39-0-7",
    "zoom_factor": 5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_focal_length_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload Control—Reset Gimbal

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
payload_index	Payload index	text		Payload index, camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
reset_mode	Reset mode type	enum_int	{"0":"Recenter","1":"Down","2":"Yaw recenter","3":"Pitch down"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7",
    "reset_mode": 0
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "gimbal_reset"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload Control—Look At

The Look At feature turns the aircraft from its current orientation toward the point specified by the actual latitude, longitude, and altitude. On the M30/M30T model, locking the aircraft heading is recommended; in gimbal-only rotation scenarios, the Look At feature behaves abnormally after the gimbal reaches its limit angle.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
locked	Whether the relative relationship between the aircraft heading and the gimbal is locked	bool	{"false":"Only the gimbal rotates, the aircraft body does not","true":"Lock the aircraft heading; the gimbal and aircraft body rotate together"}
latitude	Target point latitude	double	{"max":90,"min":-90}	Angle value. South latitude is negative, north latitude is positive, accurate to 6 decimal places.
longitude	Target point longitude	double	{"max":180,"min":-180}	Angle value. East longitude is positive, west longitude is negative, accurate to 6 decimal places.
height	Target point altitude	float	{"max":10000,"min":2,"step":0.1,"unit_name":"meter / m"}	Target point altitude (ellipsoidal height)

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "height": 100,
    "latitude": 12.23,
    "locked": true,
    "longitude": 12.23,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_look_at"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload Control—Split Screen

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. See Product Support
enable	Whether to enable split screen	bool		Turn split screen on or off

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "enable": true,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_screen_split"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
result	Return code	int		A non-zero value indicates an error

Example:

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

Payload control - Photo storage settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
photo_storage_settings	Photo storage settings collection	array	{"size": -, "item_type": enum_string}	Photo storage type {current, vision, ir}; multiple selections allowed

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7",
    "photo_storage_settings": [
      "current",
      "wide",
      "zoom",
      "ir"
    ]
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "photo_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload control - Video storage settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
video_storage_settings	Video storage settings collection	array	{"size": -, "item_type": enum_string}	Video storage type {current, wide, zoom, ir}; multiple selections allowed

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7",
    "video_storage_settings": [
      "current",
      "wide",
      "zoom",
      "ir"
    ]
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "video_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload control - Camera exposure mode settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration
exposure_mode	Exposure mode	enum_int	{"1":"Auto","2":"Shutter Priority","3":"Aperture Priority","4":"Manual"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "exposure_mode": 1,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_exposure_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload control - Camera exposure value adjustment

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}
exposure_value	Exposure value	enum_string	{"1":"-5.0EV","2":"-4.7EV","3":"-4.3EV","4":"-4.0EV","5":"-3.7EV","6":"-3.3EV","7":"-3.0EV","8":"-2.7EV","9":"-2.3EV","10":"-2.0EV","11":"-1.7EV","12":"-1.3EV","13":"-1.0EV","14":"-0.7EV","15":"-0.3EV","16":"0EV","17":"0.3EV","18":"0.7EV","19":"1.0EV","20":"1.3EV","21":"1.7EV","22":"2.0EV","23":"2.3EV","24":"2.7EV","25":"3.0EV","26":"3.3EV","27":"3.7EV","28":"4.0EV","29":"4.3EV","30":"4.7EV","31":"5.0EV","255":"FIXED"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "exposure_value": 5,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_exposure_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload control - Camera focus mode settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration. Note: The Matrice 30 Series aircraft only supports configuring this parameter under the zoom lens
focus_mode	Focus mode	enum_int	{"0":"MF","1":"AFS","2":"AFC"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "focus_mode": 1,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_focus_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload control - Camera focus value settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enumeration	text		Camera enumeration value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enumeration. Note: The Matrice 30 Series aircraft only supports configuring this parameter under the zoom lens
focus_value	Focus value	int		Focus value. For the range, refer to the aircraft thing model properties zoom_max_focus_value and zoom_min_focus_value

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "focus_value": 5,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_focus_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload Control - Point Focus

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enum	text		Camera enum value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
camera_type	Camera type	enum_string	{"wide":"Wide-angle","zoom":"Zoom"}	Camera type enum. Note: Matrice 30 Series aircraft only support configuring this parameter under the zoom lens
x	Focus point coordinate x	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the horizontal direction is x
y	Focus point coordinate y	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the vertical direction is y

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "camera_type": "zoom",
    "payload_index": "39-0-7",
    "x": 0.5,
    "y": 0.5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "camera_point_focus_action"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_point_focus_action

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload Control - Infrared Temperature Measurement Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enum	text		Camera enum value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
mode	Temperature measurement mode	enum_int	{"0":"Disable temperature measurement","1":"Spot temperature measurement","2":"Area temperature measurement"}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "mode": 1,
    "payload_index": "39-0-7"
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "ir_metering_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload Control - Infrared Temperature Measurement Point Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enum	text		Camera enum value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
x	Temperature measurement point coordinate x	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the horizontal direction is x
y	Temperature measurement point coordinate y	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the vertical direction is y

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "payload_index": "39-0-7",
    "x": 0.5,
    "y": 0.5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "ir_metering_point_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

Payload Control - Infrared Temperature Measurement Area Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera enum	text		Camera enum value. A non-standard device_mode_key, in the format {type-subtype-gimbalindex}. Refer to Product Support
x	Top-left corner coordinate x of the temperature measurement area	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the horizontal direction is x
y	Top-left corner coordinate y of the temperature measurement area	double	{"max":1,"min":0}	The top-left corner of the lens is the coordinate origin; the vertical direction is y
width	Width of the temperature measurement area	double	{"max":1,"min":0}
height	Height of the temperature measurement area	double	{"max":1,"min":0}

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "height": 0.5,
    "payload_index": "39-0-7",
    "width": 0.5,
    "x": 0.5,
    "y": 0.5
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "ir_metering_area_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero indicates an error

Example:

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

DRC

DRC - Stick Control

After establishing the DRC link, you can control the aircraft and gimbal attitude through the "DRC - Stick Control" command. The send frequency must be maintained at 5-10 Hz in order to control the aircraft's movement relatively precisely. This protocol has no acknowledgment mechanism.

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

Direction: down

Method: stick_control

Data:

Column	Name	Type	constraint	Description
roll	Roll channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to channel A of the remote controller, controlling aircraft roll (manifested as left-right translation). Stick value range [1024±660], with 1024 as the median (no action); increasing the value indicates tilting right, decreasing indicates tilting left.
pitch	Pitch channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to channel E of the remote controller, controlling aircraft pitch (manifested as forward-backward translation). Stick value range [1024±660]**, with 1024 as the median (no action); increasing the value indicates pitching forward (diving), decreasing indicates pitching backward (nose up).
throttle	Throttle channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to channel T of the remote controller, controlling aircraft ascent and descent. Stick value range [1024±660], with 1024 as the hover state; increasing the value indicates ascending, decreasing indicates descending.
yaw	Yaw channel	int	{"max":"1684","min":"364","unit_name":""}	Corresponds to channel R of the remote controller, controlling aircraft yaw (manifested as left-right rotation). Stick value range [1024±660], with 1024 as the median (no action); increasing the value indicates clockwise rotation, decreasing indicates counterclockwise rotation.

Example:

{
  "seq": 1,
  "method": "stick_control",
  "data": {
    "roll": 1024,
    "pitch": 1024,
    "throttle": 1024,
    "yaw": 1024,
    "gimbal_pitch": 1024
  }
}

DRC - Flight Control (Deprecated)

Note: This protocol is no longer maintained. Use "DRC - Stick Control" for better response performance.

After entering Live Flight Controls mode, this command can be used to control the aircraft's navigation direction and speed. The send frequency must be kept within 5-10 Hz so the device can control speed changes and direction relatively precisely.

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

Direction: down

Method: drone_control

Data:

Column	Name	Type	constraint	Description
seq	Command sequence number	int		An incrementing sequence number that ensures commands are executed in order. If the x, y, h, or w parameters change, seq must start incrementing from 0.
x	Speed in the forward/backward direction	double	{"max":17,"min":-17,"unit_name":"meters per second / m/s"}	Maximum forward/backward speed; a negative value indicates moving backward
y	Speed in the left/right direction	double	{"max":17,"min":-17,"unit_name":"meters per second / m/s"}	Maximum left/right speed; a negative value indicates moving left
h	Speed in the up/down direction	double	{"max":5,"min":-4,"unit_name":"meters per second / m/s"}	Maximum up/down speed; a negative value indicates moving down
w	Aircraft body angular velocity	double	{"max":90,"min":-90,"unit_name":"degrees per second / degree/s"}	Maximum clockwise/counterclockwise angular velocity; a negative value indicates counterclockwise rotation

Example:

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

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

Direction: up

Method: drone_control

Data:

Column	Name	Type	constraint	Description
result	Return code	int		If the send is successful, there will be no return code. Non-zero indicates an error. Exception cases: no flight control authority, no virtual stick permission, incorrect data packet sequence number
output	Output	struct
»seq	Command sequence number	int		An incrementing sequence number that ensures commands are executed in order

Example:

{
  "data": {
    "output": {
      "seq": -1
    },
    "result": 319033
  },
  "method": "drone_control"
}

DRC-Aircraft emergency stop

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	Return code	int		Non-zero indicates an error

Example:

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

DRC-Heartbeat

The seq at the same level as data is an incrementing sequence number that guarantees commands are executed in order.

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

Direction: down

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	[Deprecated] Command sequence number	int		Incrementing sequence number that guarantees commands are executed in order
timestamp	Heartbeat send timestamp	int	{"unit_name":"millisecond / ms"}	The application side can use the heartbeat protocol to determine whether the DRC link is active. If no heartbeat response is received within a certain period, the DRC link can be considered abnormal and a retry can be initiated. If the device does not receive a heartbeat protocol sent by the application side for more than 1 minute, the device will consider the DRC link idle and exit the DRC link.

Example:

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

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

Direction: up

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	[Deprecated] Command sequence number	int		Incrementing sequence number that guarantees commands are executed in order
timestamp	Heartbeat send timestamp	int	{"unit_name":"millisecond / ms"}	The application side can use the heartbeat protocol to determine whether the DRC link is active. If no heartbeat response is received within a certain period, the DRC link can be considered abnormal and a retry can be initiated. If the device does not receive a heartbeat protocol sent by the application side for more than 1 minute, the device will consider the DRC link idle and exit the DRC link.

Example:

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

DRC-Obstacle avoidance information report

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

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
up_distance	Distance of upward obstacle	int	{"unit_name":"millimeter / mm"}
down_distance	Distance of downward obstacle	int	{"unit_name":"millimeter / mm"}
up_enable	State of upward obstacle sensing switch	bool
up_work	Working state of upward obstacle sensing	bool
down_enable	State of downward obstacle sensing switch	bool
down_work	Working state of downward obstacle sensing	bool
left_enable	State of leftward obstacle sensing switch	bool
left_work	Working state of leftward obstacle sensing	bool
right_enable	State of rightward obstacle sensing switch	bool
right_work	Working state of rightward obstacle sensing	bool
front_enable	State of forward obstacle sensing switch	bool
front_work	Working state of forward obstacle sensing	bool
back_enable	State of backward obstacle sensing switch	bool
back_work	Working state of backward obstacle sensing	bool
vertical_enable	State of vertical obstacle sensing switch	bool
vertical_work	Working state of vertical obstacle sensing	bool
horizontal_enable	State of horizontal obstacle sensing switch	bool
horizontal_work	Working state of horizontal obstacle sensing	bool
around_distances	Surrounding obstacle distance	array	{"size": 360, "item_type": int}	Horizontal observation points distributed over the angular range [0,360), where 0 corresponds to straight ahead of the aircraft heading, distributed clockwise; for example, 0 degrees is straight ahead of the aircraft heading and 90 degrees is directly to the right of the aircraft. Each value indicates the distance between the obstacle at that angle and the aircraft; 60000 means there is no obstacle at that angle. If an empty array is reported, it means there are no obstacles at any angle. If an array of 4 values is reported, it means the data is TOF obstacle-sensing data, reported when infrared obstacle sensing fails, such as in nighttime scenarios.

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-Image transmission link delay information report

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

Direction: up

Method: delay_info_push

Data:

Column	Name	Type	constraint	Description
sdr_cmd_delay	Transmission protocol command link delay	int	{"unit_name":"millisecond / ms"}	Transmission protocol command link delay
liveview_delay_list	Video stream transmission delay	array	{"size": -, "item_type": struct}	Video stream transmission delay, multi-channel code stream
»video_id	Code stream index	text		Code stream index
»liveview_delay_time	Code stream delay	int	{"unit_name":"millisecond / ms"}	Code stream delay

Example:

{
  "data": {
    "liveview_delay_list": [
      {
        "liveview_delay_time": 60,
        "video_id": "1581BN210004555439234/52-0-0/normal-0"
      },
      {
        "liveview_delay_time": 80,
        "video_id": "1581BN210004555439234/53-0-0/normal-0"
      }
    ],
    "sdr_cmd_delay": 10
  },
  "timestamp": 1670415891013
}

DRC-High-frequency osd information report

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

Direction: up

Method: osd_info_push

Data:

Column	Name	Type	constraint	Description
attitude_head	Head angle of aircraft attitude	double	{"unit_name":"degree / °"}	Head angle of aircraft attitude
latitude	Aircraft latitude	double	{"unit_name":"degree / °"}
longitude	Aircraft longitude	double	{"unit_name":"degree / °"}
height	Aircraft altitude	double	{"unit_name":"degree / °"}	Aircraft altitude above sea level
speed_x	Current speed of the aircraft in the X coordinate direction	double	{"unit_name":"meter per second / m/s"}	Current speed of the aircraft in the X coordinate direction
speed_y	Current speed of the aircraft in the Y coordinate direction	double	{"unit_name":"meter per second / m/s"}	Current speed of the aircraft in the Y coordinate direction
speed_z	Current speed of the aircraft in the Z coordinate direction	double	{"unit_name":"meter per second / m/s"}
gimbal_pitch	Gimbal pitch angle	double	{"unit_name":"degree / °"}
gimbal_roll	Gimbal roll angle	double	{"unit_name":"degree / °"}
gimbal_yaw	Gimbal yaw angle	double	{"unit_name":"degree / °"}

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
}