libingkun/skyeyesystem

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Bingkun Li f839feb98b Initial version backend code and change endpoint of device management module

2026-01-19 10:44:18 +08:00

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飞行控制

端点： `/flight`

方法： GET&SET
描述： 飞行控制

请求

起飞请求

{
    "action": 0
}

强制降落

{
  "action": "1"
}

其余action请求数字代号：


  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：

{
  "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

{
    "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

{
  "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：

{
  "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:

{
  "topic": 1,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

ACCELERATION_BODY:

{
  "topic": 2,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

ACCELERATION_RAW:

{
  "topic": 3,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

VELOCITY:

{
  "topic": 4,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

ANGULAR_RATE_FUSIONED:

{
  "topic": 5,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

ANGULAR_RATE_RAW:

{
  "topic": 6,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

ALTITUDE_FUSED:

{
  "topic": 7,
  "val": 3.14,
  "ms": 100000,
  "us": 33339999
}

ALTITUDE_BAROMETER:

{
  "topic": 8,
  "val": 3.14,
  "ms": 100000,
  "us": 33339999
}

ALTITUDE_OF_HOMEPOINT:

{
  "topic": 9,
  "val": 3.14,
  "ms": 100000,
  "us": 33339999
}

HEIGHT_FUSION:

{
  "topic": 10,
  "val": 3.14,
  "ms": 100000,
  "us": 33339999
}

HEIGHT_RELATIVE:

{
  "topic": 11,
  "val": 3.14,
  "ms": 100000,
  "us": 33339999
}

POSITION_FUSED:

{
  "topic": 12,
  "longitude": 3.14,
  "latitude": 3.14,
  "altitude": 3.14,
  "visibleSatelliteNumber": 3,
  "ms": 100000,
  "us": 33339999
}

GPS_DATE:

{
  "topic": 13,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

GPS_TIME:

{
  "topic": 14,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

GPS_POSITION:

{
  "topic": 15,
  "x": 14,
  "y": 21,
  "z": 33,
  "ms": 100000,
  "us": 33339999
}

GPS_VELOCITY:

{
  "topic": 16,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

GPS_DETAILS:

{
  "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:

{
  "topic": 18,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

RTK_POSITION:

{
  "topic": 19,
  "longitude": 3.14,
  "latitude": 3.21,
  "hfsl": 3.33,
  "ms": 100000,
  "us": 33339999
}

RTK_VELOCITY:

{
  "topic": 20,
  "x": 3.14,
  "y": 3.21,
  "z": 3.33,
  "ms": 100000,
  "us": 33339999
}

RTK_YAW:

{
  "topic": 21,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

RTK_POSITION_INFO:

{
  "topic": 22,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

RTK_YAW_INFO:

{
  "topic": 23,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

COMPASS:

{
  "topic": 24,
  "x": 14,
  "y": 21,
  "z": 33,
  "ms": 100000,
  "us": 33339999
}

RC:

{
  "topic": 25,
  "roll": 14,
  "pitch": 21,
  "yaw": 33,
  "throttle": 33,
  "mode": 33,
  "gear": 33,
  "ms": 100000,
  "us": 33339999
}

GIMBAL_ANGLES:

{
  "topic": 26,
  "x": 14.99,
  "y": 21.12,
  "z": 33.22,
  "ms": 100000,
  "us": 33339999
}

GIMBAL_STATUS:

{
  "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:

{
  "topic": 28,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

STATUS_DISPLAYMODE:

{
  "topic": 29,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

STATUS_LANDINGGEAR:

{
  "topic": 30,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

STATUS_MOTOR_START_ERROR:

{
  "topic": 31,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

BATTERY_INFO:

{
  "topic": 32,
  "capacity": 3000000,
  "voltage": 3000000,
  "current": 3000000,
  "percentage": 3000000,
  "ms": 100000,
  "us": 33339999
}

CONTROL_DEVICE:

{
  "topic": 33,
  "controlAuthority": 31,
  "controlAuthorityChangeReason": 30,
  "ms": 100000,
  "us": 33339999
}

HARD_SYNC:

{
  "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:

{
  "topic": 35,
  "val": 3,
  "ms": 100000,
  "us": 33339999
}

RC_WITH_FLAG_DATA:

{
  "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:

{
  "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:

{
  "topic": 38,
  "val": 3,
  "ms": 100000,
  "us": 33339999
}

GIMBAL_CONTROL_MODE:

{
  "topic": 39,
  "val": 3,
  "ms": 100000,
  "us": 33339999
}

FLIGHT_ANOMALY:

{
  "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:

{
  "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:

{
  "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:

{
  "topic": 43,
  "val": 3000000,
  "ms": 100000,
  "us": 33339999
}

HOME_POINT_INFO:

{
  "topic": 44,
  "latitude": 30.22,
  "longitude": 30.33,
  "ms": 100000,
  "us": 33339999
}

THREE_GIMBAL_DATA:

{
  "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:

{
  "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:

{
  "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

{
  "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

{
  "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

{
  "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

{
  "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)

{
  "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

{
  "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

{
  "WaypointV2Move": "1"
}

停止任务

{
  "WaypointV2Move": "2"
}

暂停任务

{
  "WaypointV2Move": "3"
}

继续任务

{
  "WaypointV2Move": "4"
}

设置全局巡航速度

{
  "datWaypointV2Move": 5,
  "gloabalCruiseSpeed": XXX
}

获取全局巡航速度

{
  "WaypointV2Move": 6
}

18 KiB Raw Blame History Unescape Escape

飞行控制

端点： /flight

请求

起飞请求

强制降落

其余action请求数字代号：

数据订阅

端点：/subscription

请求和响应

请求

响应

推送的订阅数据

相机视频流

端点：/video

请求和响应

打开相机请求

打开相机请求的响应

关闭相机请求

关闭相机请求的响应

视频流

运动规划

端点：/waypoint_v2

请求和响应

上传航点任务

开始任务

停止任务

暂停任务

继续任务

设置全局巡航速度

获取全局巡航速度

18 KiB

Raw Blame History

端点： `/flight`

端点：`/subscription`

端点：`/video`

端点：`/waypoint_v2`