| payloads | Payload Status | array | {"size": -, "item_type": struct} | | r | 1 |
| »payload_index | Payload Index | text | | Payload index, format: {type-subtype-gimbalindex} | r | 1 |
| »sn | Payload Serial Number (SN) | text | | | r | 1 |
| mode_code | Aircraft Status | enum_int | {"0":"Standby","1":"Takeoff Preparation","2":"Takeoff Ready","3":"Manual Flight","4":"Automatic Takeoff","5":"Route Flight","6":"Panoramic Photography","7":"Intelligent Follow","8":"ADS-B Avoidance", "9":"Automatic Return","10":"Automatic Landing","11":"Forced Landing","12":"Three-blade Landing","13":"Upgrading","14":"Not Connected","15":"APAS","16":"Virtual Joystick Status", "17":"Rectangle"，"18":"Polygon"，"19":"Tilt Photography"，"20":"Reserved Field"，"21":"Precise Retake"，"22":"Delayed Photography"，"23":"Surrounding"，"25":"Spiral"，"26":"Ultra-clear"， "27":"Intelligent Image Transmission Point Mode"，"28":"Infrared Light Tracking"，"29":"Intelligent Task Belt Flight"，"30":"Intelligent Task Polygonal Terrain Simulation"，"31":"Intelligent Task Monomer Surrounding"，"32":"Panoramic Intelligent Detection"，"33":"Security Intelligent Detection"， "34":"GPS Escape Mode"，"35":"Abnormal Mode State, currently only planner process crashes, will switch to this mode"，"36":"Swarm Formation Mode"，"37":"Quick Task"， "38":"Modeling Environ..."} | | | |
| distance_limit_status | Aircraft Distance Limit Status | struct | | | rw | 0 |
| »state | Whether to Enable Distance Limit | enum_int | {"0":"Not Set","1":"Set"} | | | 0 |
| »distance_limit | Distance Limit | int | {"max":"8000","min":"15","step":"1","unit_name":"meters / m"} | | | 0 |
| »is_near_distance_limit | Whether Near Distance Limit | enum_int | {"0":"Not Reach Distance Limit","1":"Approaching Distance Limit"} | | r | 0 |
| cameras | Aircraft Camera Information | array | {"size": -, "item_type": struct} | | r | 0 |
| »remain_photo_num | Remaining Number of Photos | int | | Remaining number of photos | r | 0 |
| »remain_record_duration | Remaining Recording Duration | int | {"unit_name":"seconds / s"} | Remaining recording duration | r | 0 |
| »payload_index | Payload Index | text | | Payload index, camera enumeration value. Non-standard device_mode_key, format: {type-subtype-gimbalindex}, refer to the product support page | | 0 |
| »camera_mode | Camera Mode | enum_int | {"0":"Photo","1":"Video"} | Camera mode | | 0 |
| »zoom_factor | Zoom Factor | float | {"max":160,"min":1} | | | 0 |
| »ir_zoom_factor | Infrared Zoom Factor | float | {"max":16,"min":1} | | | |
| horizontal_speed | Horizontal Speed | float | {"unit_name":"meters per second / m/s"} | | r | 0 |
| vertical_speed | Vertical Speed | float | {"unit_name":"meters per second / m/s"} | | r | 0 |
| longitude | Current Longitude | float | | | r | 0 |
| latitude | Current Latitude | float | | | r | 0 |
| height | Absolute Height | float | | Relative to ellipsoidal height of the Earth, calculation: height relative to takeoff point + ellipsoidal height of takeoff point | r | 0 |
| elevation | Relative Height of Takeoff Point | float | | | r | 0 |
| attitude_pitch | Pitch Angle | float | | | r | 0 |
| attitude_roll | Roll Angle | float | | | r | 0 |
| attitude_head | Yaw Angle | int | | Yaw angle with true north (meridian), positive from 0 to 6 o'clock direction, negative from 6 to 12 o'clock direction | r | 0 |
| home_distance | Distance to Home Point | float | | | r | 0 |
| battery | Aircraft Battery Information | struct | | | r | 0 |
| »capacity_percent | Remaining Total Battery Capacity | int | {"max":100,"min":0} | | | 0 |
| position_state | Satellite Searching Status | struct | | | r | 0 |
| »is_fixed | Convergence Status | enum_int | {"0":"Not Started","1":"Converging","2":"Converged Successfully","3":"Convergence Failed"} | | | 0 |
| »quality | Satellite Fix Quality | enum_int | {"1":"Level 1","2":"Level 2","3":"Level 3","4":"Level 4","5":"Level 5"} | | | 0 |
| »gps_number | Number of GPS Satellites | int | | | | 0 |
| »rtk_number | Number of RTK Satellites | int | | | | 0 |
| {type-subtype-gimbalindex} | Payload Index | struct | | {{type-subtype-gimbalindex}_cBGPzxWKRQ} | r | 0 |
| »gimbal_pitch | Gimbal Pitch Angle | double | {"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"} | | r | 0 |
| »gimbal_roll | Gimbal Roll Angle | double | {"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"} | | r | 0 |
| »gimbal_yaw | Gimbal Yaw Angle | double | {"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"} | | r | 0 |
| »payload_index | Payload Index, format: {type-subtype-gimbalindex} | text | | | r | 1 |
| »zoom_factor | Zoom Factor | double | | | r | 0 |
| activation_time | Aircraft Activation Time (Unix Timestamp) | int | {"unit_name":"seconds / s"} | | r | 0 |
| night_lights_state | Aircraft Night Navigation Light State | enum_int | {"0":"Off","1":"On"} | | rw | 0 |
| height_limit | Aircraft Height Limit | int | {"max":"1500","min":"20","step":"1","unit_name":"meters / m"} | | rw | 0 |
| is_near_height_limit | Whether Near Height Limit | enum_int | {"0":"Not Reach Height Limit","1":"Approaching Height Limit"} | | r | 0 |
| is_near_area_limit | Whether Near No-fly Zone | enum_int | {"0":"Not in No-fly Zone","1":"Approaching No-fly Zone"} | | r | 0 |
| obstacle_avoidance | Aircraft Obstacle Avoidance Status | struct | | | rw | 0 |
| »horizon | Horizontal Obstacle Avoidance Status | enum_int | {"0":"Off","1":"On"} | Note: Currently aircraft obstacle avoidance is unified without distinction | | 0 |
| »upside | Top Obstacle Avoidance Status | enum_int | {"0":"Off","1":"On"} | Note: Currently aircraft obstacle avoidance is unified without distinction | | 0 |
| »downside | Bottom Obstacle Avoidance Status | enum_int | {"0":"Off","1":"On"} | Note: Currently aircraft obstacle avoidance is unified without distinction | | 0 |