航线管理
Event
上报航线任务进度
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: flighttask_progress
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| output | 内容 | struct | ||
| »ext | 扩展内容 | struct | ||
| »»current_waypoint_index | 当前执行到的航点数 | int | ||
| »»media_count | 本次航线任务执行产生的媒体文件数量 | int | ||
| »»flight_id | 任务 ID | text | ||
| »status | 任务状态 | enum_string | {”pending“:"开始执行"，"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","partially_done":"部分完成","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"} | |
| »progress | 进度 | struct | ||
| »»current_step | 执行步骤 | enum_int | {"0":"初始状态","1":"启动前检查，无人机是否在执行航线中","2":"启动前检查，机场是否退出工作模式","3":"启动前检查，航线执行中","4":"启动前检查，返航中","5":"航线执行进入准备状态，开始等待任务下发","6":"机场进入工作状态","7":"进入开机检查准备工作和开盖准备工作","8":"等待飞行系统准备就绪，推送连接建立","9":"等待 RTK 源监听有值上报","10":"检查 RTK 是否就绪“,"14":"下载 任务文件","15":"任务文件上传中";,"17":"无人机起飞参数设置，备降点设置，起飞高度设置"18":"无人机 flyto 起飞参数设置","19":"Home 点设置","20":"触发执行航线","21":"航线执行中","22":"返航","23":"无人机降落机场","24":"降落以后的关盖","29":"获取媒体文件数量","46":"上传图片",,"47":"任务完成","0xFFFD":"结束后等待服务回包","0xFFFE":"无具体状态","0xFFFFF":"UNKNOWN"} | |
| »»percent | 进度值 | int | {"max":"100","min":"0",} | |
| result | 结果 | int | 返回0成功，非零失败（失败原因见错误码） |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"output": {
"ext": {
"current_waypoint_index": 3,
"flight_id": "flight_id",
"media_count": 6,
},
"progress": {
"current_step": 19,
"percent": 100
},
"status": "ok"
},
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_progress"
}
下发任务
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_prepare
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_id | 计划 ID | text | ||
| execute_time | 开始执行时间 | int | {"length":13} | 任务开始执行时间毫秒时间戳。可选字段。当 task_type 为 0 或 1 时必填，为 2 时非必填。 |
| task_type | 任务类型 | enum_int | {"0":"立即任务","1":"定时任务",} | 立即任务和定时任务均由 execute_time 指定执行时间。条件任务支持 ready_conditions 字段指定任务就绪条件。任务可在指定时间段内满足一定条件后即可执行。立即任务媒体上传优先级最高，定时任务和条件任务媒体上传优先级相同。 |
| wayline_type | 航线类型 | enum_int | {"0":"普通航点航线"} | |
| file | 航线文件对象 | struct | ||
| »url | 文件 URL | text | ||
| »fingerprint | 文件 MD5 签名 | text | ||
| rth_altitude | 返航高度 | int | {"max":1500,"min":20,"unit_name":"米 / m"} | |
| out_of_control_action | 遥控器失控动作 | enum_int | {"0":"返航","1":"悬停","2":"降落"} | 失控动作，当前固定传的值是 0，即返航。注意该枚举值定义跟飞控跟机场定义的不一致，机场端会进行转换。 |
| exit_wayline_when_rc_lost | 航线失控动作 | enum_int | {"0":"继续执行航线任务","1":"退出航线任务，执行遥控器失控动作"} | 保持跟 KMZ 文件一致 |
| wayline_precision_type | 航线精度类型 | enum_int | {0:"GPS 任务"， 1： "高精度RTK任务"} | |
| barrier_switch_state | 避障开关 | enum_int | {0：打开避障， 1， 关闭避障} | |
| takeoff_altitude | 起飞高度 | int | ||
| first_waypoint_speed | 去首航点的速度 | int | ||
| return_speed | 去首航点的速度 | int | ||
| media_upload_method | 媒体文件上传方式 | enum_int | {0:落地上传， 1:变飞边传} | |
| alternate_land_point | 备降点 | struct | ||
| longitude | 经度 | double | ||
| latitude | 纬度 | double | ||
| safe_land_height | 安全高度 | float | ||
| is_configured | 是否设置备降点 | enum_int | {0:未设置，1：已设置} |
Example:
{
"timestamp" : "1715693761421",
"data" : {
"flight_id" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"execute_time" : "1715693761357",
"task_type" : 0,
"wayline_type" : 0,
"file" : {
"url" : "http://139.9.78.181:9000/autel-store/20240514/7dc350b0-33dc-4795-aac6-b0b9c88384b8-181153706728624128.aut",
"fingerprint" : "ebf5f3c1ee5228edd96943ade9dda33d"
},
"rth_altitude" : 100,
"exit_wayline_when_rc_lost" : 0,
"alternate_land_point" : {
"longitude" : 114.2304316,
"latitude" : 23.0358027,
"safe_land_height" : 10,
"is_configured" : 1
},
"wayline_precision_type" : 1,
"takeoff_altitude" : 100,
"first_waypoint_speed" : 10,
"return_speed" : 10,
"media_upload_method" : 0
},
"method" : "flighttask_prepare",
"tid" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"bid" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"gateway" : "NM1923371013"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_prepare
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
},
"gateway": "NM1923371013",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1715693761468,
"method": "flighttask_prepare"
}
执行任务
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_execute
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_id | 计划 ID | text |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"flight_id": "xxxxxxx"
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1234567890123,
"method": "flighttask_execute"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_execute
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": 1234567890123,
"method": "flighttask_execute"
}
一键返航
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 | 返回码 | int | 非 0 代表错误 | |
| output | 输出 | struct | ||
| »status | 任务状态 | enum_string | {"canceled":"取消或终止","failed":"失败","in_progress":"执行中","ok":"执行成功","paused":"暂停","rejected":"拒绝","sent":"已下发","timeout":"超时"} |
航线暂停
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_pause
Data: null
Example:
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_pause
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回码 | int | 非 0 代表错误 |
航线恢复
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_recovery
Data: null
Example:
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_recovery
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回码 | int | 非 0 代表错误 |
取消任务
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_undo
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_ids | 计划 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 | 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": 1234567890123,
"method": "flighttask_undo"
}
取消返航
返航后，无人机会退出航线模式，此时取消返航，无人机会悬停
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: return_home_cancel
Data: null
Example:
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: return_home_cancel
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回码 | int | 非 0 代表错误 |