设备管理

设备拓扑更新

Topic: sys/product/{gateway_sn}/status

Direction: up

Method: update_topo

Data:

Column	Name	Type	constraint
domain	网关设备的命名空间	string
type	网关设备的产品类型	int
sub_type	网关子设备的产品子类型	int
device_secret	网关设备的密钥	text
thing_version	网关设备的物模型版本	text
sub_devices	子设备列表	array	{"size": 1, "item_type": struct}
»sn	子设备序列号（SN）	text
»domain	子设备的命名空间	string
»type	子设备的产品类型	int
»sub_type	子设备的产品子类型	int
»index	连接网关设备的通道索引	string
»device_secret	子设备的密钥	text
»thing_version	子设备的物模型版本	text

Example:

 //sub_devices online  
{
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"method": "update_topo",
	"timestamp": 1234567890123,
	"data": {
		"domain": "3",
		"type": 119,
		"sub_type": 0,
		"device_secret": "secret",
		"nonce": "nonce",
		"thing_version": "1.1.2",
		"sub_devices": [
			{
				"sn": "drone001",
				"domain": "0",
				"type": 60,
				"sub_type": 0,
				"index": "A",
				"device_secret": "secret",
				"nonce": "nonce",
				"thing_version": "1.1.2"
			}
		]
	}
}

 //sub_devices offline 
{
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "method": "update_topo",
    "timestamp": 1234567890123,
    "data": {
        "domain": "3",
        "type": 119,
        "sub_type": 0,
        "device_secret":"secret",
        "nonce":"nonce",
        "thing_version": "1.1.2",
        "sub_devices":[]
    }
} 

设备属性推送

Topic: thing/product/{device_sn}/state 状态数据:设备在状态变化时上报

Topic: thing/product/{device_sn}/osd 定频数据:设备将以 0.5HZ 的频率定时上报

Direction: up

API 说明： 负载属性上报是指无人机挂载的负载的属性上报，如相机的属性上报。一个负载由负载索引唯一确定（负载索引：产品类型-子类型-挂载位置 {type-subtype-gimbalIndex}），type、subtype数值当前会涉及负载属性上报的协议有网关设备的设备属性推送以及直播功能的直播能力更新。对于设备属性推送，负载属性上报的内容为相机本身的信息，如云台俯仰、偏航、横滚的角度等。对于直播能力更新，负载属性上报的内容更多为相机在直播时的能力，如最大可同时推流的码流数量。负载属性具体结构体请参考下文的example。需要注意遥控器的设备属性在一条消息体中上报，而机场的设备属性推送是分多条推送的。

Data:

Column	Name	Type	constraint	Description
data	消息内容	text	{}	内容可参考设备的设备属性
»camera_index	type-subtype-gimbalIndex	text	{}	gimbalIndex为相机位置，type、sub_type

Example:

Topic: thing/product/{dock_sn}/state

Topic: thing/product/{dock_sn}/osd

{
    "bid": "e852fa28-955c-4510-8593-edcc67ee7d39",
    "data": {
        "air_conditioner": {
            "air_conditioner_state": 0
        },
        "alarm_state": 0,
        "alternate_land_point": {
            "latitude": 23.0358041,
            "longitude": 114.2302418,
            "safe_land_height": 4,
            "is_configured": 1
        },
        "backup_battery": {
            "remain_cap": 100,
            "temperature": 3131,
            "voltage": 2440,
            "switch": 1
        },
        "cover_state": 0,
        "drc_state": 0,
        "drone_charge_state": {
            "capacity_percent": 96,
            "state": 1
        },
        "drone_in_dock": 1,
        "emergency_stop_state": 0,
        "environment_humidity": 35.6,
        "environment_temperature": 37.3,
        "firmware_version": "1.4.0.43",
        "flighttask_step_code": 5,
        "height": 19.8307,
        "humidity": 42,
        "latitude": 23.035793,
        "live_status": [
            {
                "error_status": 0,
                "status": 0,
                "video_id": "drone-camera-0",
                "video_quality": 1,
                "video_type": "zoom"
            },
            {
                "error_status": 0,
                "status": 1,
                "video_id": "NM1923371002/nest-camera-out/normal",
                "video_quality": 1,
                "video_type": "normal"
            },
            {
                "error_status": 0,
                "status": 0,
                "video_id": "HMB923411183/drone-camera-0/normal",
                "video_quality": 1,
                "video_type": "zoom"
            }
        ],
        "longitude": 114.23022,
        "media_file_detail": {

        },
        "mode_code": 0,
        "network_state": {
            "type": 2
        },
        "position_state": {
            "is_fixed": 1
        },
        "pressure": 0,
        "putter_state": 0,
        "rainfall": 0,
        "rth_altitude": 30,
        "scram_status": 0,
        "storage": {
            "storage_type": 0,
            "total": 28156542976,
            "used": 4042371072
        },
        "supplement_light_state": 0,
        "takeoff_altitude": 30,
        "temperature": 31,
        "wind_speed": 0,
        "wireless_link": {

        }
    },
    "gateway": "NM1923371002",
    "tid": "16f959cf-9a13-4d2b-9804-a92674e89a43",
    "timestamp": 1715673626742
}

Topic: thing/product/{aircraft_sn}/state

Topic: thing/product/{aircraft_sn}/osd

{
    "bid": "2cb37f9f-bc25-41d4-aa7d-e07462491f1e",
    "data": {
        "activation_time": 1715676726534,
        "attitude_head": 0.0045256633,
        "attitude_pitch": 0.02032269723713398,
        "attitude_roll": 1.1378498077392578,
        "battery": {
            "capacity_percent": 96,
            "remain_flight_time": 2010
        },
        "cameras": [
            {
                "camera_mode": 1,
                "ir_zoom_factor": 1,
                "payload_index": "68-0-0",
                "zoom_factor": 1
            }
        ],
        "distance_limit_status": {
            "distance_limit": 100000,
            "state": 0,
            "is_near_distance_limit": 0
        },
        "elevation": 51.005,
        "height": 61.464,
        "height_limit": 800,
        "home_distance": 40.564087,
        "horizontal_speed": 0.040024992,
        "latitude": 23.035486,
        "longitude": 114.23,
        "mode_code": 9,
        "night_lights_state": 0,
        "obstacle_avoidance": {
            "downside": 0,
            "horizon": 1,
            "upside": 0
        },
        "position_state": {
            "calibration": 0,
            "coordinate_sys": 0,
            "fix_sta": 1,
            "gps_number": 9,
            "is_fixed": 2,
            "quality": 0,
            "rtk_number": 61,
            "rtk_hgt": 60.688499450683594,
            "rtk_inpos": 1,
            "rtk_lat": 23.03548820713067,
            "rtk_lon": 114.23000532515461,
            "rtk_used": 1
        },
        "rid_state": 0,
        "total_flight_time": 39825,
        "vertical_speed": 1.064,
        "alarm_status": 0,
        "ned_altitude": -51.005,
        "ned_latitude": -21.956568,
        "ned_longitude": -33.985134,
        "ntrip_status": "error",
        "pos_type": "50",
        "sn": "HMB923411183",
        "total_armed_time": 63,
        "vel_ned_x": 0.039,
        "vel_ned_y": 0.009,
        "vel_ned_z": 1.064,
        "wireless_link": {
            "4g_uav_quality": 34
        },
        "is_near_area_limit": 0,
        "is_near_height_limit": 0,
        "68-0-0": {
            "gimbal_pitch": 0,
            "gimbal_roll": 0,
            "gimbal_yaw": -0.14,
            "payload_index": "68-0-0",
            "zoom_factor": 0.5678233438485805
        }
    },
    "gateway": "NM1923371002",
    "tid": "ab688165-77f3-4070-aefc-15414d776aec",
    "timestamp": 1715676726534
}

#设备属性设置

Topic: thing/product/{gateway_sn}/property/set

Direction: down

Data:

Column	Name	Type	constraint	Description
data	消息内容	text		内容可参考设备的设备属性

RTK账号设置:

Column	Name	Type	constraint
data	消息内容	struct
»rtk_acount	机巢rtk	struct
»»rtk_method	方式	text	ntrip
»»type	类型	int	0:机巢 1：无人机4g
»»domain_name	域名	text
»»port	端口	text
»»mount_point	挂载点	text
»»user_name	用户名	text
»»password	密码	text
»»is_default_on	是否默认使用	int	0：不默认 1：默认

RTK清除

Column	Name	Type	constraint	Description
data	消息内容	struct
»rtk_acount_clear	机巢rtk	struct

RID配置

data	消息内容	struct
»rid_config	rid配置信息机巢rtk	struct
Column	Name	Type	constraint	Description
»»region	地区	int	0:UNKNOWN， 1:CN 2:US 3:EU 4:JP
»»flight_purpose	飞行目的地， CN，US地区必填	text
»»key	key JP地区必填	text
»»pilot_id	飞手id	text
»»remote_id	RID JP地区必填	text

RID配置清除：

Column	Name	Type	constraint	Description
data	消息内容	struct
»rid_config_clear	机巢rtk	struct

4G图传融合链路配置

Column	Name	Type	constraint
data	消息内容	struct
»wireless_link_config	链路配置	struct
link_work_mode	链路工作模式	int	{"0":"SDR 模式","1":"4G 融合模式"}
4G_uav_link_addr	无人机端4G连接地址	text	4G融合模式下必填
gnd_link_addr	地面端连接地址	text	4G融合模式下必填

设置起飞返航高度

Column	Name	Type
data	消息内容	struct
»takeoff_and_rth_altitude	起飞和返航高度	struct
»»rth_altitude	返航高度	int
»»takeoff_altitude	起飞高度	int

Example:

{
    "bid":"00000000-0000-0000-0000-000000000000",
    "data":{
        "distance_limit_status": {"state": 1}
    },
    "tid":"00000000-0000-0000-0000-000000000000",
    "timestamp":1643268212187
}

设置起降高度
{
    "bid":"00000000-0000-0000-0000-000000000000",
    "data":{
        "takeoff_and_rth_altitude": {
            "rth_altitude": 100,
            "takeoff_altitude": 100,
        }
    },
    "tid":"00000000-0000-0000-0000-000000000000",
    "timestamp":1643268212187，
    "gateway" : "NM1923371002"
}

设置备降点：
{
  "timestamp" : "1715675635202",
  "data" : {
    "set_nest_position" : {
      "height" : 10.393,
      "longitude" : 114.23022,
      "latitude" : 23.035793,
      "backupLon" : 114.2302418,
      "backupLat" : 23.0358041,
      "backupAlt" : 4.0
    }
  },
  "tid" : "60933e0c-e1e3-42de-8154-948fe688103f",
  "bid" : "6bb3acee-f9ed-4b31-812b-3ecf1e428cc7",
  "gateway" : "NM1923371002"
} 

设置RTK账号
 {
  "timestamp" : "1715676027869",
  "data" : {
    "rtk_account" : {
      "type" : 0,
      "rtk_method" : "Ntrip",
      "domain_name" : "rtk.ntrip.qxwz.com",
      "port" : 8002,
      "mount_point" : "AUTO",
      "user_name" : "xxxxxxx",
      "password" : "xxxxx",
      "is_default_on" : 1
    }
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

清除RTK账号
 {
  "timestamp" : "1715676027869",
  "data" : {
    "rtk_acount_clear" : {
    }
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

配置RID：
 {
  "timestamp" : "1715676027869",
  "data" : {
    "rid_config" : {
      "region" : 1,
      "flight_purpose" : "中国",
      "key" : "xxxxxxxx",
      "pilot_id" : "xxxxxxx",
      "remote_id" : "xxxxxxxxx",
    }
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

清除rid配置
 {
  "timestamp" : "1715676027869",
  "data" : {
    "rid_config_clear" : {
    }
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

是否空中回传：
 {
  "timestamp" : "1715676027869",
  "data" : {
    "air_transfer_enable" : 1
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

Topic: thing/product/{gateway_sn}/property/set_reply

Direction: up

Data:

Column	Name	Type	constraint	Description
data	消息内容	text		内容可参考设备的设备属性

Example:

{
    "bid":"00000000-0000-0000-0000-000000000000",
    "data":{
        "distance_limit_status": {
            "state": {
                "result": 0  // 0: 成功，1：失败，2：超时，0x123456 具体的错误原因码
                }
       }
    },
    "tid":"00000000-0000-0000-0000-000000000000",
    "timestamp":1643268212187
}

答复备降点设置
{
    "tid": "60933e0c-e1e3-42de-8154-948fe688103f",
    "bid": "6bb3acee-f9ed-4b31-812b-3ecf1e428cc7",
    "timestamp": 1715675635239,
    "data": {
        "set_nest_position": {
            "result": 0
        }
    }
}

答复RTK账号设置：
{
    "tid": "c9ecb956-931b-4cbf-bc8a-896b19963dfd",
    "bid": "53e5fbfd-84e8-4c76-9bb2-bafdfa3f7d03",
    "timestamp": 1715676627443,
    "data": {
        "rtk_account": {
            "result": 0
        }
    }
}


答复rid配置
 {
  "timestamp" : "1715676027869",
  "data" : {
    "rid_config" : {
      "result" : 0
    }
  },
  "tid" : "4c334487-5dbf-4e1f-ab2e-295d1e578e52",
  "bid" : "2b989d27-c6e5-4660-bd29-d0289ce3fa7e",
  "gateway" : "NM1923371002"
}

设备拓扑更新​

设备属性推送​

#设备属性设置​

设备拓扑更新

设备属性推送

#设备属性设置