# 飞行控制 ## 端点： `/flight` - **方法：** `GET`&`SET` - **描述：** 飞行控制 ## 请求 ### 起飞请求 ```json { "action": 0 } ``` --- ### 强制降落 ```json { "action": "1" } ``` --- ### 其余action请求数字代号： ```json 返航：2 取消返航：3 着陆：4 取消着陆：5 确认着陆：6 设置返航点：7 （以飞行器当前位置为返航点） 电机急停：8 开启电机：9 关闭电机：10 飞行拦截：11 取消悬停：12 紧急悬停：13 取消紧急悬停：14 执行遥控器操作：15 ``` 若需要执行遥控器操作，其指令格式为： ```json { "action": 15, "direction": "q\w\e\a\s\d\z\c" } ``` # 数据订阅 ## 端点：`/subscription` - **方法：** `GET` - **描述：** 订阅或退订无人机实时数据 ## 请求和响应 ### 请求 ```json { "action": 1, "topic": 2, "hertz": 50 } ``` action取值：
1 - subscribe
2 - unsubscribe
topic取值：
0 - QUATERNION，姿态四元数
1 - ACCELERATION_GROUND，相对地面加速度
2 - ACCELERATION_BODY，相对机体加速度
3 - ACCELERATION_RAW，原始加速度
4 - VELOCITY，速度
5 - ANGULAR_RATE_FUSIONED，融合角速度
6 - ANGULAR_RATE_RAW，原始角速度
7 - ALTITUDE_FUSED，融合高度
8 - ALTITUDE_BAROMETER，气压计高度
9 - ALTITUDE_OF_HOMEPOINT，Home点高度
10 - HEIGHT_FUSION, 融合相对地面高度
11 - HEIGHT_RELATIVE, 相对地面高度
12 - POSITION_FUSED, 融合位置坐标
13 - GPS_DATE, GPS 日期（年月日）
14 - GPS_TIME, GPS 时间（时分秒）
15 - GPS_POSITION, GPS 位置
16 - GPS_VELOCITY, GPS 速度
17 - GPS_DETAILS, GPS 信息
18 - GPS_SIGNAL_LEVEL, GPS 信号强度
19 - RTK_POSITION, RTK 位置
20 - RTK_VELOCITY, RTK 速度
21 - RTK_YAW, RTK 航向角
22 - RTK_POSITION_INFO, RTK 位置信息
23 - RTK_YAW_INFO, RTK 航向信息
24 - COMPASS, 指南针信息
25 - RC, 遥控摇杆信息
26 - GIMBAL_ANGLES, 云台角度
27 - GIMBAL_STATUS, 云台状态
28 - STATUS_FLIGHT, 飞行状态
29 - STATUS_DISPLAYMODE, 飞行模式状态
30 - STATUS_LANDINGGEAR, 起落架状态
31 - STATUS_MOTOR_START_ERROR, 电机启动错误码
32 - BATTERY_INFO, 电池信息
33 - CONTROL_DEVICE, 设备控制信息
34 - HARD_SYNC, 硬件时钟同步
35 - GPS_CONTROL_LEVEL, GPS 控制等级
36 - RC_WITH_FLAG_DATA, 带标记遥控遥感信息
37 - ESC_DATA, 电调数据
38 - RTK_CONNECT_STATUS, RTK 连接状态
39 - GIMBAL_CONTROL_MODE, 云台控制模式
40 - FLIGHT_ANOMALY, 飞行异常信息
41 - POSITION_VO, 笛卡尔坐标位置
42 - AVOID_DATA, 避障数据
43 - HOME_POINT_SET_STATUS, 返航点设置状态
44 - HOME_POINT_INFO, 返航点信息
45 - THREE_GIMBAL_DATA, 三云台信息（适用M300 RTK与M350 RTK，上下三个云台的信息）
46 - BATTERY_SINGLE_INFO_INDEX1, 1 号电池信息
47 - BATTERY_SINGLE_INFO_INDEX2， 2 号电池信息
hertz取值：
1 - DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ
5 - DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ
10 - DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ
50 - DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ
100 - DJI_DATA_SUBSCRIPTION_TOPIC_100_HZ
200 - DJI_DATA_SUBSCRIPTION_TOPIC_200_HZ
400 - DJI_DATA_SUBSCRIPTION_TOPIC_400_HZ
其中每个topic针对不同机型允许的最大频率请参考大疆官方文档
--- ### 响应 ```json { "status": 0, "description": "description for this response" } ``` --- ### 推送的订阅数据 订阅数据为json格式，其中每个字段的含义，请参考大疆官方文档。
QUATERNION：
```json { "topic": 0, "q0": 3.14, "q1": 3.21, "q2": 3.21, "q3": 3.33, "pitch": 4.44, "roll": 5.44, "yaw": 6.33, "ms": 100000, "us": 33339999 } ``` ACCELERATION_GROUND:
```json { "topic": 1, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` ACCELERATION_BODY:
```json { "topic": 2, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` ACCELERATION_RAW:
```json { "topic": 3, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` VELOCITY:
```json { "topic": 4, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` ANGULAR_RATE_FUSIONED:
```json { "topic": 5, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` ANGULAR_RATE_RAW:
```json { "topic": 6, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` ALTITUDE_FUSED:
```json { "topic": 7, "val": 3.14, "ms": 100000, "us": 33339999 } ``` ALTITUDE_BAROMETER:
```json { "topic": 8, "val": 3.14, "ms": 100000, "us": 33339999 } ``` ALTITUDE_OF_HOMEPOINT:
```json { "topic": 9, "val": 3.14, "ms": 100000, "us": 33339999 } ``` HEIGHT_FUSION:
```json { "topic": 10, "val": 3.14, "ms": 100000, "us": 33339999 } ``` HEIGHT_RELATIVE:
```json { "topic": 11, "val": 3.14, "ms": 100000, "us": 33339999 } ``` POSITION_FUSED:
```json { "topic": 12, "longitude": 3.14, "latitude": 3.14, "altitude": 3.14, "visibleSatelliteNumber": 3, "ms": 100000, "us": 33339999 } ``` GPS_DATE:
```json { "topic": 13, "val": 3000000, "ms": 100000, "us": 33339999 } ``` GPS_TIME:
```json { "topic": 14, "val": 3000000, "ms": 100000, "us": 33339999 } ``` GPS_POSITION:
```json { "topic": 15, "x": 14, "y": 21, "z": 33, "ms": 100000, "us": 33339999 } ``` GPS_VELOCITY:
```json { "topic": 16, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` GPS_DETAILS:
```json { "topic": 17, "hdop": 3.14, "pdop": 3.21, "fixState": 3.33, "vacc": 3.33, "hacc": 3.33, "sacc": 3.33, "gpsSatelliteNumberUsed": 33, "glonassSatelliteNumberUsed": 33, "totalSatelliteNumberUsed": 33, "gpsCounter": 33, "ms": 100000, "us": 33339999 } ``` GPS_SIGNAL_LEVEL:
```json { "topic": 18, "val": 3000000, "ms": 100000, "us": 33339999 } ``` RTK_POSITION:
```json { "topic": 19, "longitude": 3.14, "latitude": 3.21, "hfsl": 3.33, "ms": 100000, "us": 33339999 } ``` RTK_VELOCITY:
```json { "topic": 20, "x": 3.14, "y": 3.21, "z": 3.33, "ms": 100000, "us": 33339999 } ``` RTK_YAW:
```json { "topic": 21, "val": 3000000, "ms": 100000, "us": 33339999 } ``` RTK_POSITION_INFO:
```json { "topic": 22, "val": 3000000, "ms": 100000, "us": 33339999 } ``` RTK_YAW_INFO:
```json { "topic": 23, "val": 3000000, "ms": 100000, "us": 33339999 } ``` COMPASS:
```json { "topic": 24, "x": 14, "y": 21, "z": 33, "ms": 100000, "us": 33339999 } ``` RC:
```json { "topic": 25, "roll": 14, "pitch": 21, "yaw": 33, "throttle": 33, "mode": 33, "gear": 33, "ms": 100000, "us": 33339999 } ``` GIMBAL_ANGLES:
```json { "topic": 26, "x": 14.99, "y": 21.12, "z": 33.22, "ms": 100000, "us": 33339999 } ``` GIMBAL_STATUS:
```json { "topic": 27, "mountStatus": 14, "isBusy": 21, "pitchLimited": 33, "rollLimited": 33, "yawLimited": 33, "calibrating": 33, "prevCalibrationgResult": 14, "installedDirection": 21, "disabled_mvo": 33, "gear_show_unable": 33, "gyroFalut": 33, "escPitchStatus": 33, "escRollStatus": 14, "escYawStatus": 21, "droneDataRecv": 33, "initUnfinished": 33, "FWUpdating": 33, "reserved2": 33, "ms": 100000, "us": 33339999 } ``` STATUS_FLIGHT:
```json { "topic": 28, "val": 3000000, "ms": 100000, "us": 33339999 } ``` STATUS_DISPLAYMODE:
```json { "topic": 29, "val": 3000000, "ms": 100000, "us": 33339999 } ``` STATUS_LANDINGGEAR:
```json { "topic": 30, "val": 3000000, "ms": 100000, "us": 33339999 } ``` STATUS_MOTOR_START_ERROR:
```json { "topic": 31, "val": 3000000, "ms": 100000, "us": 33339999 } ``` BATTERY_INFO:
```json { "topic": 32, "capacity": 3000000, "voltage": 3000000, "current": 3000000, "percentage": 3000000, "ms": 100000, "us": 33339999 } ``` CONTROL_DEVICE:
```json { "topic": 33, "controlAuthority": 31, "controlAuthorityChangeReason": 30, "ms": 100000, "us": 33339999 } ``` HARD_SYNC:
```json { "topic": 34, "ts": { "time2p5ms": 3333333, "time1ns": 2222, "resetTime2p5ms": 44444, "index": 22, "flag": 22 }, "q": { "q0": 22.22, "q1": 33.33, "q2": 33.33, "q3": 44.44 }, "a": { "x": 22.22, "y": 33.33, "z": 33.44 }, "w": { "x": 22.22, "y": 33.33, "z": 33.44 }, "ms": 100000, "us": 33339999 } ``` GPS_CONTROL_LEVEL:
```json { "topic": 35, "val": 3, "ms": 100000, "us": 33339999 } ``` RC_WITH_FLAG_DATA:
```json { "topic": 36, "roll": 14.21, "pitch": 21.14, "yaw": 33.33, "throttle": 33.44, "flag": { "logicConnected": 1, "skyConnected": 2, "groundConnected": 2, "appConnected": 1, "reserved": 1 }, "ms": 100000, "us": 33339999 } ``` ESC_DATA:
```json { "topic": 37, "esc": [ { "current": 18, "speed": 100, "voltage": 200, "temperature": 30, "stall": 24, "empty": 2, "unbalanced": 1, "escDisconnected": 2, "temperatureHigh": 1, "reserved": 0 }, ......数组大小为8 { "current": 18, "speed": 100, "voltage": 200, "temperature": 30, "stall": 24, "empty": 2, "unbalanced": 1, "escDisconnected": 2, "temperatureHigh": 1, "reserved": 0 } ], "ms": 100000, "us": 33339999 } ``` RTK_CONNECT_STATUS:
```json { "topic": 38, "val": 3, "ms": 100000, "us": 33339999 } ``` GIMBAL_CONTROL_MODE:
```json { "topic": 39, "val": 3, "ms": 100000, "us": 33339999 } ``` FLIGHT_ANOMALY:
```json { "topic": 40, "impactInAir": 3, "randomFly": 3, "heightCtrlFail": 3, "rollPitchCtrlFail": 3, "yawCtrlFail": 3, "aircraftIsFalling": 3, "strongWindLevel1": 3, "strongWindLevel2": 3, "compassInstallationError": 3, "imuInstallationError": 3, "escTemperatureHigh": 3, "atLeastOneEscDisconnected": 3, "gpsYawError": 3, "reserved": 3, "ms": 100000, "us": 33339999 } ``` POSITION_VO:
```json { "topic": 41, "x": 3.6, "y": 5.3, "z": 3.9, "xHealth": 1, "yHealth": 1, "zHealth": 1, "reserved": 0, "ms": 100000, "us": 33339999 } ``` AVOID_DATA:
```json { "topic": 42, "down": 3.6, "front": 5.3, "right": 3.9, "left": 6.3, "up": 7.3, "downHealth": 3, "frontHealth": 3, "rightHealth": 3, "backHealth": 3, "leftHealth": 3, "upHealth": 3, "reserved": 3, "ms": 100000, "us": 33339999 } ``` HOME_POINT_SET_STATUS:
```json { "topic": 43, "val": 3000000, "ms": 100000, "us": 33339999 } ``` HOME_POINT_INFO:
```json { "topic": 44, "latitude": 30.22, "longitude": 30.33, "ms": 100000, "us": 33339999 } ``` THREE_GIMBAL_DATA:
```json { "topic": 45, "anglesData": [ { "roll": 18.22, "pitch": 10.05, "yaw": 20.07, }, { "roll": 18.22, "pitch": 10.05, "yaw": 20.07, }, { "roll": 18.22, "pitch": 10.05, "yaw": 20.07, } ], "ms": 100000, "us": 33339999 } ``` BATTERY_SINGLE_INFO_INDEX1:
```json { "topic": 46, "reserve": 0, "batteryIndex": 1, "currentVoltage": 10, "currentElectric": 20, "fullCapacity": 100, "remainedCapacity": 80, "batteryTemperature": 40, "cellCount": 10, "batteryCapacityPercent": 50, "batteryState": { "reserved": 1, "cellBreak": 2, "selfCheckError": 12, "reserved1": 1, "batteryClosedReason": 0, "reserved2": 1, "batSOHState": 12, "maxCycleLimit": 20, "reserved3": 1, "lessBattery": 12, "batteryCommunicationAbnormal": 1, "reserved4": 1, "hasCellBreak": 1, "reserved5": 2, "isBatteryEmbed": 1, "heatState": 2, "socState": 1 }, "reserve1": 1, "reserve2": 0, "SOP": 1, "ms": 100000, "us": 33339999 } ``` BATTERY_SINGLE_INFO_INDEX2:
```json { "topic": 47, "reserve": 0, "batteryIndex": 2, "currentVoltage": 10, "currentElectric": 20, "fullCapacity": 100, "remainedCapacity": 80, "batteryTemperature": 40, "cellCount": 10, "batteryCapacityPercent": 50, "batteryState": { "reserved": 1, "cellBreak": 2, "selfCheckError": 12, "reserved1": 1, "batteryClosedReason": 0, "reserved2": 1, "batSOHState": 12, "maxCycleLimit": 20, "reserved3": 1, "lessBattery": 12, "batteryCommunicationAbnormal": 1, "reserved4": 1, "hasCellBreak": 1, "reserved5": 2, "isBatteryEmbed": 1, "heatState": 2, "socState": 1 }, "reserve1": 1, "reserve2": 0, "SOP": 1, "ms": 100000, "us": 33339999 } ``` # 相机视频流 ## 端点：`/video` - **方法：** `GET` - **描述：** 检索示例数据 ## 请求和响应 ### 打开相机请求 参数1：Camera 具体相机
7：FpvCamera
1：MainCamera
2：ViceCamera
3：TopCamera
参数2：action 相机开关
1：打开
0：关闭
```json { "camera": 7, "action": 1 } ``` ### 打开相机请求的响应 参数1：status 打开相机的响应码
0：打开成功
其他：错误信息
参数2：description 描述
0：打开成功
其他：打开失败
```json { "status": 0, "description": "Start FpvCamera Stream successfully" } ``` --- ### 关闭相机请求 参数1：Camera 具体相机
7：FpvCamera
1：MainCamera
2：ViceCamera
3：TopCamera
参数2：action 相机开关
1：打开
0：关闭
```json { "camera": 7, "action": 0 } ``` ### 关闭相机请求的响应 参数1：status 打开相机的响应码
0：关闭成功
其他值：错误信息
参数2：description 描述
0：关闭成功
其他：关闭失败
```json { "status": 0, "description": "Stop FpvCamera Stream successfully" } ``` ### 视频流 参数1：name 相机号
7：FpvCamera
1：MainCamera
2：ViceCamera
3：TopCamera
参数2：streamData 视频流数据(未解码的h264视频流)
```json { "name": 0, "streamData": "" } ``` # 运动规划 ## 端点：`/waypoint_v2` - **方法：** `GET`&`SET` - **描述：** 检索示例数据 ## 请求和响应 ### 上传航点任务 ```json { "WaypointV2Move": 0, "uploadMission": { "missionId": 1, "repeatTimes": 1, "finishedAction": 0, "maxFlightSpeed": 10.0, "autoFlightSpeed": 5.0, "actionWhenRcLost": 1, "gotoFirstWaypointMode": 0, "waypoints": [ { "longitude": 0.00000, "latitude": 0.00000, "relativeHeight": 10.0, "waypointType": 0, "headingMode": 0, "useLocalCruiseVel": 1, "useLocalMaxVel": 0, "dampingDistance": 20, "heading": 0.0, "turnMode": 0, "pointOfInterestPositionX": 0.0, "pointOfInterestPositionY": 0.0, "pointOfInterestPositionZ": 0.0, "maxFlightSpeed": 10.0, "autoFlightSpeed": 5.0 }, { "longitude": 0.0000010, "latitude": 0.0000020, "relativeHeight": 15.0, "waypointType": 0, "headingMode": 0, "useLocalCruiseVel": 0, "useLocalMaxVel": 1, "dampingDistance": 20, "heading": 0.0, "turnMode": 0, "pointOfInterestPositionX": 0.0, "pointOfInterestPositionY": 0.0, "pointOfInterestPositionZ": 0.0, "maxFlightSpeed": 10.0, "autoFlightSpeed": 5.0 }, { "longitude": 0.0000025, "latitude": 0.0000022, "relativeHeight": 20.0, "waypointType": 0, "headingMode": 0, "useLocalCruiseVel": 1, "useLocalMaxVel": 0, "dampingDistance": 20, "heading": 0.0, "turnMode": 0, "pointOfInterestPositionX": 0.0, "pointOfInterestPositionY": 0.0, "pointOfInterestPositionZ": 0.0, "maxFlightSpeed": 10.0, "autoFlightSpeed": 5.0 } ], "missTotalLen": 3, "actionList": [ { "actionId": 1, "actionTrigger": { "triggerType": 2, "sampleReachPointTriggerParam": { "wayPointIndex": 0, "teminateNum": 1 } }, "actionActuator": { "actuatorType": 0, "actuatorIndex": 0, "cameraActuatorParam": { "operationType": 1, "cameraFocusParam": { "focusTargetX": 0.0, "focusTargetY": 0.0, "regionType": 0, "width": 0.5, "height": 0.5, "reserve": 0, "retryTimes": 1 } } } }, { "actionId": 2, "actionTrigger": { "triggerType": 2, "sampleReachPointTriggerParam": { "wayPointIndex": 1, "teminateNum": 1 } }, "actionActuator": { "actuatorType": 1, "actuatorIndex": 0, "gimbalActuatorParam": { "operationType": 1, "gimbalRotation": { "rotX": 0, "rotY": -45, "rotZ": 0, "ctrl_mode": 0, "rollCmdIgnore": 0, "yawCmdIgnore": 0, "pitchCmdIgnore": 0, "absYawModeRef": 0, "reserved": 0, "durationTime": 2 } } } } ], "actionNum": 2 }, "gloabalCruiseSpeed": 5.0 } ``` ### 开始任务 ```json { "WaypointV2Move": "1" } ``` ### 停止任务 ```json { "WaypointV2Move": "2" } ``` ### 暂停任务 ```json { "WaypointV2Move": "3" } ``` ### 继续任务 ```json { "WaypointV2Move": "4" } ``` ### 设置全局巡航速度 ```json { "datWaypointV2Move": 5, "gloabalCruiseSpeed": XXX } ``` ### 获取全局巡航速度 ```json { "WaypointV2Move": 6 } ```