指令飞行
Event
负载控制—单拍
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_photo_take
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "68-0-0"
},
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_photo_take"
}
负载控制—开始录像
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_recording_start
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "68-0-0"
},
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_recording_start"
}
负载控制—停止录像
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_recording_stop
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "68-0-0"
},
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_recording_stop"
}
负载控制—画面拖动控制
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_screen_drag
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] | |
| locked | 机头和云台的相对关系是否锁定 | bool | {"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"} | |
| pitch_speed | 云台 pitch 速度 | double | {"unit_name":"度每秒 / deg/s"} | 云台 pitch 速度，仅支持云台转 |
| yaw_speed | 云台 yaw 速度 | double | {"unit_name":"度每秒 / deg/s"} | 云台 yaw 速度，仅支持锁机头 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"locked": false,
"payload_index": "68-0-0",
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_screen_drag"
}
负载控制—变焦
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_focal_length_set
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] | |
| camera_type | 相机类型 | enum_string | {"ir":"红外","wide":"广角","zoom":"变焦"} | 相机类型枚举 |
| zoom_factor | 变焦倍数 | double | {"max":200,"min":2} | 变焦倍数，可见光是2-200，红外是2-20 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"camera_type": "zoom",
"payload_index": "68-0-0",
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_focal_length_set"
}
负载控制—重置云台
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: gimbal_reset
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 负载编号 | text | 负载编号，相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] | |
| reset_mode | 重置模式类型 | enum_int | {"0":"回中","1":"向下","2":"偏航回中","3":"向下45度"} |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"payload_index": "68-0-0",
"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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "gimbal_reset"
}
负载控制—双击成为 AIM
双击 aim 功能为在相机镜头的视野范围内，双击镜头中的目标点，该目标点将成为镜头视野的中心
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: camera_aim
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| payload_index | 相机枚举 | text | 相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}，可以参考[产品支持] | |
| camera_type | 相机类型 | enum_string | {"ir":"红外","wide":"广角","zoom":"变焦"} | |
| locked | 机头和云台的相对关系是否锁定 | bool | {"false":"仅云台转，机身不转","true":"锁定机头，云台和机身一起转"} | 固定翼不支持锁定机头，只生效false |
| x | 目标坐标 x | double | {"max":1,"min":0} | 目标坐标 x，以镜头的左上角为坐标中心点，水平方向为 x |
| y | 目标坐标 y | double | {"max":1,"min":0} | 目标坐标 y，以镜头的左上角为坐标中心点，竖直方向为 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 | 返回码 | int | 非 0 代表错误 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "camera_aim"
}