跳到主要内容

M4T/M4N Device Properties

Device Attribute List

  • pushMode:

    • 0: Device sends periodic data at a frequency of 0.5Hz (Topic: thing/product/{device_sn}/osd)
    • 1: Device sends state data upon state changes (Topic: thing/product/{device_sn}/state)
  • accessMode:

    • r: Read-only attribute
    • rw: Read and write attribute (Topic: thing/product/{gateway_sn}/property/set)
ColumnNameTypeconstraintDescriptionaccessModepushMode
payloadsPayload Statusarray{"size": -, "item_type": struct}r1
»payload_indexPayload IndextextPayload index, format is {type-subtype-gimbalindex}r1
»snPayload Serial Number (SN)textr1
mode_codeDrone statusenum_int{"0":"Standby","1":"Takeoff preparation","2":"Ready for takeoff","3":"Manual flight","4":"Automatic takeoff","5":"Waypoint flight","6":"Panorama photo","7":"Smart follow","8":"ADS-B avoidance", "9":"Automatic return","10":"Automatic landing","11":"Forced landing","12":"Three propeller landing","13":"Upgrading","14":"Not connected","15":"APAS","16":"Virtual joystick mode", "17":"Rectangle","18":"Polygon","19":"Tilt photography","20":"Reserved","21":"Precision shooting","22":"Time-lapse photography","23":"Orbit","25":"Spiral","26":"Ultra HD", "27":"Intelligent transmission marking mode","28":"Infrared tracking","29":"Intelligent mission waypoint flight","30":"Intelligent mission polygon terrain following","31":"Intelligent mission single orbit","32":"Panorama smart detection","33":"Security smart detection", "34":"GPS escape mode","35":"Abnormal mode state (when planner process crashes)","36":"Swarm formation mode","37":"Quick task","38":"Modeling ring mode","39":"KML waypoint mode"}r0
distance_limit_statusDrone distance limit statusstructrw0
»stateDistance limit enabledenum_int{"0":"Not set","1":"Set"}0
»distance_limitDistance limitint{"max":"8000","min":"15","step":"1","unit_name":"meters / m"}0
»is_near_distance_limitApproaching the set distance limitenum_int{"0":"Not reached","1":"Approaching limit"}r0
camerasDrone camera informationarray{"size": -, "item_type": struct}r0
»[array_item]Elements in arraystruct
»»payload_indexPayload indextext68-0-0Payload index, camera enumeration value. Non-standard device_mode_key, format is {type-subtype-gimbalindex}, refer to the product support pager0
»»camera_modeCamera modeenum_int{"0":"Photo","1":"Video"}Camera moder0
»»zoom_factorZoom factorfloat{"max":160,"min":1}r0
»»ir_zoom_factorInfrared zoom factorfloat{"max":16,"min":1}r
»»photoStorageSettingsPhoto storage capabilitiesString in array{"zoom": Zoom, "wide": Wide-angle, "ir": Infrared, "NightVision": Night vision }
»»videoStorageSettingsVideo storage capabilitiesString in array{"zoom": Zoom, "wide": Wide-angle, "ir": Infrared, "NightVision": Night vision }
horizontal_speedHorizontal speedfloat{"unit_name":"meters per second / m/s"}r0
vertical_speedVertical speedfloat{"unit_name":"meters per second / m/s"}r0
longitudeCurrent longitudefloatr0
latitudeCurrent latitudefloatr0
heightAbsolute heightfloatHeight relative to Earth's ellipsoid, calculated as: height relative to the takeoff point + ellipsoid height of the takeoff pointr0
elevationHeight relative to the takeoff pointfloatr0
attitude_pitchPitch axis anglefloatr0
attitude_rollRoll axis anglefloatr0
attitude_headYaw axis angleintYaw axis angle relative to true north (meridian), with 0 to 6 o'clock being positive and 6 to 12 o'clock being negativer0
home_distanceDistance to home pointfloatr0
batteryDrone battery informationstructr0
»capacity_percentRemaining battery percentageint{"max":100,"min":0}r0
»remain_flight_timeRemaining flight timeintUnit: secondsr0
position_stateSatellite search statestructr0
»coordinate_sysRTK coordinate systemInt{0: WGS84, 1: RTK mobile station}r0
»fix_staFix statusInt{0: Not fixed, 1: Fixed}
»is_fixedIs convergedenum_int{"0":"Not started","1":"Converging","2":"Converged successfully","3":"Convergence failed"}r0
»qualitySatellite quality levelenum_int{"1":"Level 1","2":"Level 2","3":"Level 3","4":"Level 4","5":"Level 5"}r0
»rtk_inposIs RTK module in positionint{0: Not in position, 1: In position}r0
»rtk_usedIs RTK positioning usedInt{0: Not used, 1: Used}r0
»rtk_hgtRTK heightDoubler0
»rtk_latRTK latitudeDoubler0
»rtk_lonRTK longitudeDoubler0
»gps_numberNumber of GPS satellitesintr0
»rtk_numberNumber of RTK satellitesintr0
{type-subtype-gimbalindex}Payload indexstruct{{type-subtype-gimbalindex}_cBGPzxWKRQ}r0
»gimbal_pitchGimbal pitch axis angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»gimbal_rollGimbal roll axis angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»gimbal_yawGimbal yaw axis angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»payload_indexPayload index, format: {type-subtype-gimbalindex}textr1
»zoom_factorZoom factordoubler0
activation_timeDrone activation time (unix timestamp)int{"unit_name":"seconds / s"}r0
night_lights_stateDrone night light statusenum_int{"0":"Off","1":"On"}rw0
height_limitDrone altitude limitint{"max":"1500","min":"20","step":"1","unit_name":"meters / m"}rw0
is_near_height_limitApproaching the set altitude limitenum_int{"0":"Not reached","1":"Approaching limit"}r0
is_near_area_limitApproaching no-fly zoneenum_int{"0":"Not reached","1":"Approaching limit"}r0
obstacle_avoidanceDrone obstacle avoidance statusstructrw0
»horizonHorizontal obstacle avoidance statusenum_int{"0":"Off","1":"On"}Note: Drone currently does not differentiate between obstacle types0
»upsideUpside obstacle avoidance statusenum_int{"0":"Off","1":"On"}Note: Drone currently does not differentiate between obstacle types0
»downsideDownside obstacle avoidance statusenum_int{"0":"Off","1":"On"}Note: Drone currently does not differentiate between obstacle types0
total_flight_timeCumulative flight timeIntUnit: secondsr0
total_armed_timeCumulative time for armed flightsIntUnit: secondsr0
alarm_statusAlarm statusInt{0: No alarm, 1: Alarm}0
pos_typeRTK statusInt{0: No solution, 1: Position set by FIX POSITION command, 2: Not supported, 8: Doppler information exported, 16: Single point positioning, 17: Pseudorange differential solution, 18: SBAS positioning, 32: L1 float solution, 33: Ionosphere-free float solution, 34: Narrow lane float solution, 48: L1 fixed solution, 49: Wide lane fixed solution, 50: Narrow lane fixed solution, 52: Pure INS positioning solution, 53: Combined INS and single point solution, 54: Combined INS and pseudorange differential positioning, 55: Combined INS and carrier phase differential float solution, 56: Combined INS and carrier phase differential fixed solution}0
wireless_linkLink statusstructr0
»fourth_generation_uavQuality4G signal strengthIntr0
payload_IndexGimbal payloadstructr0
»gimbal_pitchGimbal pitch angledouble0
»gimbal_rollGimbal roll angledouble0
»gimbal_yawGimbal yaw angledouble0
»payload_indexPayload IDtext0
»zoom_factorZoom factorInt0
lte_card_is_detectedIs SIM card insertedint{0: No card, 1: Card inserted}{0: No card, 1: Card inserted}
lte_signal44G signalint{0,100}
lte_status4G card statusint{0: Does not support LTE module, 1: Off, 2: Not connected, 3: Connected but network unreachable, 4: Connected}{0: Does not support LTE module, 1: Off, 2: Not connected, 3: Connected but network unreachable, 4: Connected}
remote_id_statusRemote ID operational statusint{0: Off, 1: On, 2: Self-check abnormal}
control_sourceCurrent control sourcetext
commander_mode_lost_actionFlight point failure actionenum_int{"0":"Continue waypoint flight task","1":"Exit waypoint flight task, perform normal failure action"}

Payload Report

Topic: thing/product/{device_sn}/state

Direction: up

Direction: up (Device -> Cloud)

Data:

ColumnNameTypeRemarks
payload_listPayload Listarray
»payload_idPayload IDint
»payload_typePayload Typeint
»is_onlineOnline Statusint
»last_active_timeLast Active TimeLong
»payload_positionPayload Positionint
»psdklib_versionPSDK VersionString
»payload_versionPayload VersionString

Example:

{
"bid": "6b3665e1-be0f-4c7c-86ee-e387edd668e7",
"data": {
"payloads": [{
"last_active_time": 315535819380,
"payload_id": 10001,
"payload_index": "10306-0-0",
"payload_position": 2,
"payload_version": "",
"psdklib_version": "",
"is_online": 1
}]
},
"gateway": "TH7923350808",
"tid": "c441054b-88f7-4d88-ae66-2732f803310c",
"timestamp": 1724054078099
}