Wayline Management

Event

Return Home Information

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: return_home_info

Data:

Column	Name	Type	constraint	Description
planned_path_points	List of planned trajectory points	array	{"size": -, "item_type": struct}
»latitude	Latitude of the trajectory point (angle value)	double	{"max":90,"min":-90}	Trajectory point latitude in degrees. Negative for south, positive for north. Accurate to 6 decimal places
»longitude	Longitude of the trajectory point (angle value)	double	{"max":180,"min":-180}	Trajectory point longitude in degrees. Positive for east, negative for west. Accurate to 6 decimal places
»height	Trajectory point height	float	{"max":"","min":"","step":0.1,"unit_name":"meter / m"}	Ellipsoid height of the trajectory point
last_point_type	The type of the last point in the return path	enum_int	{"0":"The last point of the trajectory is above the return point","1":"The last point of the trajectory is not above the return point"}
flight_id	Task ID	text
home_dock_sn	Home point Dock SN	text		SN of the currently selected Dock home point in a multi-dock task; not applicable in standard tasks
multi_dock_home_info	Dock return information of the multi-dock task	array	{"size": 2, "item_type": struct}	Not applicable in standard tasks
»sn	Dock SN	text
»plan_status	Path planning state	enum_int	{"0":"Planning failed or in progress","1":"Path planning unreachable","2":"Path planning unreachable due to insufficient battery level","3":"Destination reachable"}
»estimated_battery_consumption	Estimated battery consumption	int	{"max":"100","min":"0","step":"1","unit_name":null}
»home_distance	Home point distance	float	{"unit_name":"meter / 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
}

Task Ready Notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_ready

Data:

Column	Name	Type	constraint	Description
flight_ids	Plan ID	array	{"size": -, "item_type": text}	Collection of IDs for tasks that currently meet the task-ready conditions

Example:

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

Report Wayline Mission Progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
ext	Extended content	struct
»current_waypoint_index	Current waypoint number being executed	int
»wayline_mission_state	Wayline task state	enum_int	{"0":"Disconnected","1":"This waypoint is not supported","2":"Wayline preparation state. It can upload files and execute existing files","3":"Wayline file uploading","4":"Trigger start command. The aircraft triggers logic such as reading the wayline. The task has not started yet and is in a preparation state","5":"Entering the wayline, heading to the first waypoint","6":"Wayline execution","7":"Wayline interrupted. Triggered conditions: 1. User actively pauses; 2. Flight controller abnormality","8":"Wayline recovery","9":"Wayline stopped"}
»media_count	Number of media files generated by this wayline mission execution	int
»track_id	Track ID	text
»flight_id	Task ID	text
»break_point	Wayline breakpoint information	struct		Optional field, used to inform the cloud of the breakpoint information for this wayline mission
»»index	Breakpoint sequence number	int
»»state	Breakpoint state	enum_int	{"0":"On the flight segment","1":"On the waypoint"}
»»progress	Current flight segment progress	float	{"max":"1.0","min":"0","step":"","unit_name":null}
»»wayline_id	Wayline ID	int
»»break_reason	Interruption reason	enum_int	{"0":"No exception","1":"Mission ID does not exist; this wayline mission was not executed","2":"Uncommon error; contact technical support","4":"When requesting to start/resume the wayline mission, the wayline file failed to load; try uploading the file again to start, or contact technical support","5":"When requesting breakpoint information, the breakpoint file query failed. When requesting to resume the wayline mission, parsing the breakpoint type failed","6":"When requesting to start/end the wayline mission, the cmd parameter is incorrect, or the command in the protocol request is incorrect. When requesting to resume the wayline mission, parsing the breakpoint type failed","7":"When requesting to start/resume the wayline mission, parsing the wpmz file timed out; please retry","257":"The wayline has already started and cannot be started again","258":"The wayline cannot be interrupted in this state; the wayline can only be paused while it is executing","259":"The wayline has not started and cannot be ended","261":"Flight task conflict; cannot acquire control of the aircraft; the wayline cannot be started during landing or return-to-home","262":"The wayline cannot be resumed in this state; the wayline can only be resumed while it is paused","513":"The aircraft exceeds the altitude limit","514":"The aircraft exceeds the distance limit","516":"The aircraft triggered the minimum altitude limit","517":"The aircraft triggered obstacle avoidance","518":"Poor RTK signal","519":"Approaching the boundary of a no-fly zone","521":"Exceeds the altitude limit of the Dock restricted flight zone","522":"Wayline takeoff request failed","523":"Takeoff task execution failed","524":"Wayline mission request failed","526":"Request for wayline RTK convergence task failed","527":"Wayline RTK convergence task failed to run","529":"Obstacles or a no-fly zone make the wayline unreachable","769":"Weak GPS signal","770":"The remote controller gear is not in N gear","771":"The return point has not been refreshed","772":"Current battery level is too low to start the task","773":"Low-battery return-to-home interrupted the wayline","775":"The remote controller lost connection with the aircraft","778":"The aircraft started its propellers on the ground; the wayline cannot be started","779":"During real-time terrain following, the camera state is abnormal (e.g., too bright, too dark, or inconsistent brightness on the two sides)","780":"The terrain-following altitude set by the user for real-time terrain following is invalid (greater than 200 m or less than 30 m)","781":"An error occurred in the global map computation during real-time terrain following","784":"Strong-wind return-to-home interrupted the wayline","1281":"User exited","1282":"User interrupted","1283":"User triggered return-to-home","1539":"Start information (waypoint index or progress) is incorrect","1540":"An unsupported coordinate system was used","1541":"An unsupported altitude mode was used","1542":"An unsupported transition wayline mode was used","1543":"An unsupported yaw mode was used","1544":"An unsupported yaw direction reversal mode was used","1545":"An unsupported waypoint type was used","1546":"The first and last points cannot use the coordinated turn type","1547":"The wayline global speed is out of the reasonable range","1548":"Abnormal number of waypoints","1549":"Abnormal latitude/longitude data","1550":"Abnormal turn intercept","1551":"The flight segment maximum speed is out of the reasonable range","1552":"The flight segment target speed is out of the reasonable range","1553":"The waypoint yaw angle is out of the reasonable range","1555":"Incorrect mission_id input for breakpoint resume","1556":"Incorrect progress information input for breakpoint resume","1557":"Abnormal task state for breakpoint resume","1558":"Incorrect waypoint index information input for breakpoint resume","1559":"Incorrect latitude/longitude information input for breakpoint resume","1560":"Incorrect waypoint yaw input for breakpoint resume","1561":"Incorrect flag setting for breakpoint resume","1563":"Wayline generation failed","1564":"Wayline execution failed","1565":"Wayline obstacle-avoidance emergency stop","1588":"Unrecognized action type","1595":"Action ID cannot be duplicated","1598":"Action ID value cannot be 65535","1602":"The number of action groups is out of the reasonable range","1603":"Incorrect effective range of the action group","1606":"Action index out of the reasonable range during breakpoint resume","1608":"Abnormal trigger execution result in the breakpoint information","1609":"Action group ID information cannot be duplicated during breakpoint resume","1610":"Action group positions cannot be duplicated during breakpoint resume","1611":"Action group position out of the reasonable range during breakpoint resume","1612":"The action ID is not in the breakpoint information during resume","1613":"The action state cannot be changed to interrupted during breakpoint resume","1614":"Incorrect breakpoint information caused the resume to fail","1634":"Unrecognized action type","1649":"Unrecognized trigger type","65534":"Unknown internal error","65535":"Unknown internal error"}
»»latitude	Breakpoint latitude	float	{"max":"90","min":"-90","step":"","unit_name":"degree / °"}
»»longitude	Breakpoint longitude	float	{"max":"180","min":"-180","step":"","unit_name":"degree / °"}
»»height	Breakpoint height relative to the Earth ellipsoid surface	float	{"unit_name":"meter / m"}
»»attitude_head	Breakpoint yaw axis angle	float
»wayline_id	ID of the wayline currently in operation	int		Includes the transition phase of entering the wayline; for example, 0 indicates that the aircraft is entering or already executing the first wayline
status	Task status	enum_string	{"canceled":"Canceled or terminated","failed":"Failed","in_progress":"In progress","ok":"Executed successfully","partially_done":"Partially completed","paused":"Paused","rejected":"Rejected","sent":"Issued","timeout":"Timed out"}
progress	Progress	struct
»current_step	Execution step	enum_int	{"0":"Idle","7":"Opening the dock cover","9":"Waiting for the aircraft to be ready","19":"Closing the dock cover","25":"Waiting for landing","28":"Clamping the push rods","50":"Task completed","99":"Task failed"}
»percent	Progress value	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": 50,
        "percent": 100
      },
      "status": "ok"
    },
    "result": 0
  },
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 1654070968655,
  "method": "flighttask_progress"
}

Device Notification of Return to Home Exit State

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: device_exit_homing_notify

Data:

Column	Name	Type	constraint	Description
sn	Dock SN	text	{}
action	Exit return notification message type	enum_int	{"0":"Exit Return to Home Exit State","1":"Enter Return to Home Exit State"}	Entering the Return to Home Exit State means that while the Dock is in return-to-home mode, the return-to-home process was exited due to the reason shown in the reason field. Similarly, exiting the Return to Home Exit State means that the Dock stopped this process of exiting return-to-home.
reason	Exit return reason	enum_int	{"0":"Throttle added to the joystick","1":"Joystick interval added","2":"Behavior tree initialization failed","3":"Surrounded by obstacles","4":"Triggered flight restriction","5":"Obstacle too close","6":"No GPS signal","7":"GPS and VIO position output flags are false","8":"Large position error between GPS and VIO fusion","9":"Short-distance backtracking","10":"Return triggered at close range"}

Example:

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

In-Flight Wayline Status Report

Method: in_flight_wayline_progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Data:

Column	Name	Type	Constraint	Description
in_flight_wayline_id	Wayline mission ID	string		Unique identifier of the in-flight wayline mission
progress	Task progress	object		Task progress information
progress.percent	Completion percentage	int	{min: 0, max: 100}	Task completion percentage
status	Task status code	int		Status code description: status: 1: Uploading file (wayline_uploading) 2: File uploaded successfully (wayline_uploaded) 3: Executing task (wayline_progress) 4: Task paused (wayline_paused) 5: Task canceled (wayline_cancel) 6: Task succeeded (wayline_ok) 7: Task failed (wayline_failed) Error code when the task fails 8: Task timed out
result	Error reason code	int
way_point_index	Current waypoint index	int		Index of the waypoint currently being executed

Example:

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

Service

Execute Task

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	Plan ID	text
multi_dock_task	Multi-dock task parameters	struct
»wireless_link_topo	Wireless link topology	struct
»»secret_code	Encryption code	array	{"size": 28, "item_type": int}	Obtained from the aircraft device properties
»»center_node	Aircraft frequency information	struct		Obtained from the aircraft device properties
»»»sdr_id	Scrambling code information	int
»»»sn	Device SN	text
»»leaf_nodes	Dock or remote controller frequency information; assembles the corresponding Dock properties for executing the multi-dock task	array	{"size": -, "item_type": struct}
»»»sdr_id	Scrambling code information	int
»»»sn	Device SN	text
»»»control_source_index	Control source index	int	{"max":"2","min":"1","step":"1","unit_name":"None / "}
»dock_infos	Dock information	array	{"size": 2, "item_type": struct}	Dock information for this multi-dock task; except for dock_type which must be specified, all other fields can be obtained directly from the device property reports
»»dock_type	Dock role in the multi-dock task	enum_string	{"landing":"Landing","takeoff":"Takeoff Dock"}
»»latitude	Latitude	double	{"max":"90","min":"-90","step":"0.01"}	Dock latitude, obtainable from the Dock device properties
»»longitude	Longitude	double	{"max":"180","min":"-180","step":"0.01"}	Dock longitude, obtainable from the Dock device properties
»»height	Ellipsoid height	double	{"unit_name":"meter / m"}	Dock height, obtainable from the Dock device properties
»»heading	Dock heading angle	double	{"max":"180","min":"-180","step":"","unit_name":"degree / °"}	Dock heading angle, obtainable from the Dock device properties
»»home_position_is_valid	Dock home point validity	enum_int	{"0":"Invalid","1":"Valid"}	Obtainable from the Dock device properties
»»index	Dock task unique identifier	int	{"max":"31","min":"1"}	Number assigned to the Dock; it must remain unique within a single task and preferably be used consistently over the long term
»»sn	Dock SN	text
»»rtcm_info	Dock RTK calibration source	struct
»»»mount_point	Network RTK mount point information	text
»»»port	Network port information	text
»»»host	Network host information	text
»»»rtcm_device_type	Device type	enum_int	{"1":"Dock"}
»»»source_type	Calibration type	enum_int	{"0":"Not calibrated","1":"Auto-convergence calibration","2":"Manual calibration","3":"Network RTK calibration"}
»»alternate_land_point	Alternate landing point	struct
»»»longitude	Longitude	float	{}
»»»latitude	Latitude	float	{}
»»»height	Ellipsoid height	float	{}
»»»safe_land_height	Safe altitude (alternate landing transfer altitude)	float	{}
»»»is_configured	Whether the alternate landing point is set	enum_int	{"0":"Not set","1":"Already set"}

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

Designate home point for returning

In a multi-dock task, used when a specific Dock needs to be designated as the return destination

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_specific_home

Data:

Column	Name	Type	constraint	Description
home_dock_sn	Target Dock SN for returning	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	Return code	int		Non-zero represents an error

Example:

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

Task termination

In a multi-dock task, after one Dock reports that the task has ended, this command must be issued to the other Dock to end the task

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
flight_id	Task id	text
reason	Termination reason	enum_int	{"0":"Normal termination","1":"The state machine of the other dock is abnormal"}

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	Return code	int		Non-zero represents an error

Example:

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

Cancel return

After returning home, the aircraft will exit the wayline mode. If return is canceled at this point, the aircraft will hover

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	Return code	int		Non-zero represents an error

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"
}

One-key return

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	Return code	int		Non-zero represents an error
output	Output	struct
»status	Task state	enum_string	{"canceled":"Cancelled or terminated","failed":"Failed","in_progress":"Executing","ok":"Executed successfully","paused":"Paused","rejected":"Rejected","sent":"Issued","timeout":"Timeout"}

Wayline recovery

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	Return code	int		Non-zero represents an error

Example:

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

Paused the wayline

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	Return code	int		Non-zero represents an error

Example:

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

Cancel mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
flight_ids	Plan 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	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": 1234567890123,
  "method": "flighttask_undo"
}

Issue a mission

If the user's cloud service cannot access the external network (the WAN), the configuration update function must be implemented to issue the URL of an NTP service that the cloud service can access, so that clock synchronization can be achieved. Otherwise, the wayline mission cannot run properly.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
flight_id	Plan ID	text
execute_time	Start execution time	int	{"length":13}	The task start time as a millisecond timestamp. Optional field. Required when task_type is 0 or 1, and not required when it is 2.
task_type	Mission type	enum_int	{"0":"Immediate mission","1":"Timed mission","2":"Conditional mission"}	Both immediate missions and timed missions specify their execution time via execute_time; conditional missions support the ready_conditions field to specify task readiness conditions, and the device can execute the mission once the readiness conditions are met within the specified time period; immediate missions have the highest media upload priority, while timed missions and conditional missions have the same media upload priority.
file	Wayline file object	struct
»url	File URL	text
»fingerprint	File signature	text		File content MD5 signature
ready_conditions	Mission readiness conditions	struct		Optional field. Required for conditional missions (i.e., when task_type is 2); this field is ignored for other types of missions. After a conditional mission is issued, the device periodically checks whether all ready_conditions are met. If they are all satisfied, a flighttask_ready event notification is triggered. Additionally, when the device receives the flighttask_execute command, it also checks whether all the mission's ready_conditions have been met.
»battery_capacity	Battery capacity	int		The aircraft battery level percentage threshold for an executable mission. The aircraft battery level when the mission starts must be greater than battery_capacity.
»begin_time	Start time of the mission's executable period	int	{"length":13}	The start time of the mission's executable period as a millisecond timestamp. The time at which the mission starts execution must be greater than begin_time.
»end_time	End time of the mission's executable period	int	{"length":13}	The end time of the mission's executable period as a millisecond timestamp. The time at which the mission starts execution must be less than end_time.
executable_conditions	Mission execution conditions	struct		Optional field, used to add pre-execution check conditions on the device side. If any condition is not met, execution fails.
»storage_capacity	Storage capacity	int		The minimum storage capacity of the dock or aircraft that can execute the mission. If the dock or aircraft storage capacity does not meet storage_capacity, mission execution fails.
break_point	Wayline breakpoint information	struct		Optional field, used for resuming from a breakpoint. If this field is specified, the wayline mission resumes from the breakpoint position specified by the field.
»index	Breakpoint number	int
»state	Breakpoint state	enum_int	{"0":"On segment","1":"On waypoint"}
»progress	Current segment progress	float	{"max":"1.0","min":"0"}
»wayline_id	Wayline ID	int
rth_altitude	Return home altitude	int	{"max":1500,"min":20,"unit_name":"Meters / m"}
rth_mode	Return home altitude mode	enum_int	{"0":"Optimal","1":"Preset"}	In Optimal mode, the aircraft automatically plans the optimal return-home altitude. The DJI Dock currently does not support setting the return-home altitude mode; only the 'Preset' mode can be selected. When the environment or lighting does not meet the requirements of the vision system (for example, direct sunlight in the evening, or low/no light at night), the aircraft performs a straight-line return at the altitude you set.
out_of_control_action	Remote controller lost control action	enum_int	{"0":"Return to home","1":"Hover","2":"Land"}	Out-of-control action. The currently fixed value is 0, i.e., return to home. Note that the enumeration definition is inconsistent between the flight controller and the Dock; the Dock side performs the conversion.
exit_wayline_when_rc_lost	Wayline lost control action	enum_int	{"0":"Continue executing the wayline mission","1":"Exit the wayline mission and execute the remote controller lost control action"}	Keep consistent with the KMZ file
wayline_precision_type	Wayline precision type	enum_int	{"0":"GPS mission","1":"High-precision RTK mission"}	High-precision RTK mission: After taking off, the aircraft waits in the air for the RTK to converge before executing the mission. The mission cannot be paused while waiting for RTK convergence. This mode is recommended for the default scenario. GPS mission: The aircraft can start execution directly without waiting for RTK convergence. This mode is recommended for missions with low accuracy requirements or missions with high takeoff timeliness requirements.
simulate_mission	Whether to execute the mission in the simulator	struct		Optional field, used for simulated mission debugging indoors. >Note: Before performing a simulated flight, be sure to remove the propellers to prevent them from being cut when the dock cover closes.
»is_enable	Whether to enable the simulator mission	enum_int	{"0":"Do not enable","1":"Enable"}	Enable or disable the simulator 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 advance check	bool	{"0":"Disabled","1":"Enabled"}	Sets whether to pre-check flight safety in one-key takeoff and wayline missions. This field is optional and defaults to 0; a value of 0 means disabled, and 1 means enabled. Flight safety advance check means: before the aircraft executes the mission, it checks whether its own operating area file is consistent with the cloud side; if inconsistent, it pulls the file update, and if consistent, it takes no action.

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

Create a wayline mission (deprecated)

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_create

Data:

Column	Name	Type	constraint	Description
flight_id	Plan ID	text
type	Mission type	text
file	Wayline file object	struct
»url	File URL	text
»sign	MD5 signature	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	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": "flighttask_create"
}

Issue a wayline in flight

While the aircraft is flying in the air, waylines with smaller file sizes can be issued.

Method: in_flight_wayline_deliver

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	Request ID	string		Unique identifier of the request
tid	Task ID	string		Unique identifier of the task
timestamp	Timestamp	int64		Timestamp of the request
method	Method name	string		Fixed as in_flight_wayline_deliver
data	Data	object		Specific data of the issued wayline
data.file	File information	object		Wayline file information
data.file.fingerprint	File fingerprint	string		Used to verify file integrity
data.file.url	File download URL	string		Download URL of the wayline file
data.in_flight_wayline_id	Wayline mission ID	string		Unique identifier of the in-flight wayline mission
data.out_of_control_action	Out-of-control action	int	{0: "Return to home", 1: "Hover", 2: "Land"}	Action when the remote controller loses control
data.exit_wayline_when_rc_lost	Lost connection action	int	{0: "Continue execution", 1: "Execute flight control out-of-control action"}	Action when the wayline loses connection
data.rth_altitude	Return home altitude	int	{min: 20, max: 1500}	Return home altitude, unit: meters
data.rth_mode	Return mode	int	{0: "Optimal", 1: "Preset"}	Return home altitude mode
data.wayline_precision_type	Wayline precision type	int	{0: "GPS mission", 1: "High-precision RTK mission"}	Wayline precision type

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	Return code	int		Non-zero represents an error

Example:

{
  "result": 0
}

Pause an in-flight wayline

Method: in_flight_wayline_stop

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	Request ID	string		Unique identifier of the request
tid	Task ID	string		Unique identifier of the task
timestamp	Timestamp	int64		Timestamp of the request
method	Method name	string		Fixed as in_flight_wayline_stop
data	Data	object		Specific data of the paused wayline
data.in_flight_wayline_id	Wayline mission ID	string		Unique identifier of the in-flight wayline mission

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	Return code	int		Non-zero represents an error

Example:

{
  "result": 0
}

Resume an in-flight wayline

Method: in_flight_wayline_recover

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	Request ID	string		Unique identifier of the request
tid	Task ID	string		Unique identifier of the task
timestamp	Timestamp	int64		Timestamp of the request
method	Method name	string		Fixed as in_flight_wayline_recover
data	Data	object		Specific data of the resumed wayline
data.in_flight_wayline_id	Wayline mission ID	string		Unique identifier of the in-flight wayline mission

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	Return code	int		Non-zero represents an error

Example:

{
  "result": 0
}

Cancel In-Flight Wayline

Method: in_flight_wayline_cancel

Topic: thing/product/{gateway_sn}/services

Direction: down

Data:

Column	Name	Type	Constraint	Description
bid	Request ID	string		Unique identifier of the request
tid	Task ID	string		Unique identifier of the task
timestamp	Timestamp	int64		Timestamp of the request
method	Method name	string		Fixed value in_flight_wayline_cancel
data	Data	object		Specific data for canceling the wayline

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	Return code	int		A non-zero value indicates an error

Example:

{
  "result": 0
}

Requests

Get Dock Task Status

In a multi-dock scenario, a Dock needs to request the task execution status of another Dock.

Topic: thing/product/{gateway_sn}/requests

Direction: up

Method: flighttask_progress_get

Data:

Column	Name	Type	constraint	Description
target_sn	Target device SN	text
flight_id	Target wayline task 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	Return code	int		A non-zero value indicates an error
output	Output	struct
»flight_id	Latest current task ID of the device	text
»progress	Task progress	struct		The field enum values are the same as the progress field in flighttask_progress (Report the wayline mission progress)
»»current_step	Execution step	enum_int	{"0":"Idle","7":"Opening dock cover","9":"Waiting for aircraft to be ready","19":"Closing dock cover","25":"Waiting for landing","28":"Clamping push rod","50":"Task completed","99":"Task failed"}	The field enum values are the same as flighttask_progress.progress.current_step (Report the wayline mission progress).
»»percent	Execution progress	int	{"max":"100","min":"0","step":"","unit_name":null}
»status	Task status	text		The field enum values are the same as the status field in flighttask_progress (Report the wayline mission progress)

Example:

{
  "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data": {
    "output": {
      "flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
      "progress": {
        "current_step": 25,
        "percent": 90
      },
      "status": "in_progress"
    },
    "result": 0
  },
  "gateway": "xxx",
  "method": "flighttask_progress_get",
  "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp": 0
}

Get Task Resource

Topic: thing/product/{gateway_sn}/requests

Direction: up

Method: flighttask_resource_get

Data:

Column	Name	Type	constraint	Description
flight_id	Plan 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	Return code	int		A non-zero value indicates an error
output	Output	struct
»file	Wayline file object	struct
»»url	File URL	text
»»fingerprint	File signature	text		File MD5 signature

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"
}