Command Flight and Gimbal Control

Interface Changes

The camera_*, ir_metering_*, video_* and gimbal_* entries below all belong to payload control.

✓ available, — not available. Interfaces not listed are identical on EVO Nest and Autel Nest2.

Method	Function	EVO Nest	Autel Nest2	Notes
camera_mode_switch	Payload Control - Camera Mode Switch	✓	—	Autel Nest2 supports photo and video at the same time; no switching required
camera_exposure_set	Camera Exposure Value Setting	—	✓
camera_exposure_compensation_set	Camera Exposure Compensation Setting	—	✓
camera_iso_mode_set	Camera ISO Mode Setting	—	✓
camera_iso_value_set	Camera ISO Value Setting	—	✓
camera_shutter_mode_set	Camera Shutter Mode Setting	—	✓
camera_shutter_value_set	Camera Shutter Speed Value Setting	—	✓
camera_white_balance_mode_set	Camera White Balance Mode Setting	—	✓
camera_white_balance_value_set	Camera White Balance Color Temperature Value Setting	—	✓
camera_focus_mode_set	Camera Focus Mode Setting	—	✓
camera_focus_value_set	Camera Focus Value Setting	—	✓
camera_brightness_value_set	Camera Brightness Setting	—	✓
camera_defog_mode_set	Camera Electronic Defog Mode Setting	—	✓
camera_photo_size_set	Camera Photo Size Setting	—	✓
camera_video_resolution_set	Camera Video Resolution Setting	—	✓
camera_ultra_pixel_mode_set	Camera Ultra Sensitivity Mode Setting	—	✓
camera_screen_split	Camera Screen Split Mode Setting	—	✓
camera_linkage_zoom	Linkage Zoom Switch	—	✓
camera_arm_light_set	Arm Light Switch	—	✓
camera_reset	Reset Camera Settings	—	✓
camera_ffc	Infrared FFC Calibration	—	✓
camera_ir_fusion_set	Infrared Dual-Light Fusion Switch	—	✓
camera_ir_super_resolution_set	Infrared Super Resolution Switch	—	✓
camera_thermal_image_enhance_set	Infrared Image Enhancement Setting	—	✓
ir_metering_mode_set	Infrared Temperature Measurement Mode Setting	—	✓
ir_metering_point_set	Infrared Temperature Measurement Spot Setting	—	✓
ir_metering_area_set	Infrared Temperature Measurement Region Setting	—	✓
video_encode_settings	Camera Video Encoding Format Setting	—	✓
video_format_settings	Camera Video Format Setting	—	✓
video_subtitle_mode	Camera Video Subtitle Switch	—	✓
gimbal_pitch_max_speed	Gimbal Pitch Max Speed Setting	—	✓
mission_pause	Pause the Flyto Mission	—	✓
mission_recovery	Resume the Flyto Mission	—	✓
fly_to_point_v2	Fly to the Target Point V2	—	✓
fly_to_point_progress_v2	Flyto Execution Result Event Notification V2	—	✓	Uplink event
poi_mode_enter	Enter Point of Interest Orbit	—	✓
poi_mode_exit	Exit Point of Interest Orbit	—	✓
poi_circle_speed_set	Set the Point of Interest Orbit Speed Preset	—	✓
poi_status_notify	Point of Interest Orbit Status Notification	—	✓	Uplink event

Flyto Execution Result Event Notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	constraint	Description
fly_to_id	Target Point ID	text		Task ID for flying to the target point
status	Status	enum_string	{"wayline_cancel":"Fly to target point canceled", "wayline_failed":"Execution failed", "wayline_ok":"Execution successful, reached target point", "wayline_paused":"Paused and hovering", "wayline_progress":"In progress"}	Task execution status
result	Return Code	int		Non-zero represents an error
percent	Task Progress Percentage	int	{"max":100,"min":0,"step":1}	Progress of flying to the target point. Monotonically non-decreasing; 100 on arrival, and frozen at the value captured at pause time while paused
way_point_index	Current Waypoint Index	int		Current waypoint index being executed
remaining_distance	Remaining Task Distance	float	{"step":0.1, "unit_name":"meters / m"}	Remaining distance to the target point
remaining_time	Remaining Task Time	float	{"step":0.1, "unit_name":"seconds / s"}	Estimated remaining flight time
planned_path_points	Planned Path Points	array	{"}size": -, "item_type": struct}	Planned wayline trajectory points
»latitude	Trajectory Latitude	double	{"max":90,"min":-90}	Latitude of the trajectory point, accurate to 6 decimal places
»longitude	Trajectory Longitude	double	{"max":180,"min":-180}	Longitude of the trajectory point, accurate to 6 decimal places
»height	Trajectory Height	float	{"step":0.1,"unit_name":"meters / m"}	Height of the trajectory point, in meters

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"percent": 63,
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_progress",
		"way_point_index": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "fly_to_point_progress"
}

Flyto Execution Result Event Notification V2

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress_v2

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto Target Point ID	text		Task ID for flying to the target point
status	Status	enum_string	{"wayline_cancel":"Fly to target point canceled", "wayline_failed":"Execution failed", "wayline_ok":"Execution successful, reached target point", "wayline_paused":"Paused and hovering", "wayline_progress":"In progress"}	Task execution status
sub_status	Execution Sub-status	int	{0:"Not ready / idle",1:"Flying in progress",2:"Arrived and completed",3:"Exited voluntarily (APP/button)",4:"Paused",5:"Aborted abnormally"}
result	Return Code	int		Non-zero represents an error
percent	Task Progress Percentage	int	{"max":100,"min":0,"step":1}	Progress of flying to the target point. Monotonically non-decreasing; 100 on arrival, and frozen at the value captured at pause time while paused
stop_reason	Abnormal Termination Reason	int		0 on success; see the table below for abnormal reasons
remaining_distance	Remaining Task Distance	int	{"unit_name":"meters / m"}	Remaining distance to the target point
remaining_time	Remaining Task Time	int	{"unit_name":"seconds / s"}	Estimated remaining flight time; -1 when there is no position target
speed	Speed	int	{"unit_name":"meters per second / m/s"}	Real-time speed
pos_frame	Position Coordinate System	int		Active position coordinate system: 0=Body / 1=North-East (NEU) / 2=GPS
yaw_frame	Yaw Coordinate System	int		Active yaw coordinate system: 0=Body / 1=Geographic
gimbal_frame	Gimbal Coordinate System	int		Active gimbal coordinate system: 0=Body / 1=Geographic / 2=GPS look-at point / 3=Image

stop_reason:

Name	Value	Common trigger
ERMM_MISSION_ERROR	10016	Insufficient parameters; position/yaw/gimbal groups all invalid
ERMM_PLANNER_OVERTIME	10015	Planning status not received for a long time
ERMM_MISSION_PLANNER_STUCK	10022	Planner waypoint execution error
ERMM_MISSION_POINTS_IN_NOFLY	10030	Target point passes through a no-fly zone
ERMM_EXIT_MISSION_NO_ODOM	10032	Flight controller position / GPS acquisition continuously failing
ERMM_FCS_NOT_TAKEOFF	10038	Command sent while on the ground (not takeoff)

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"percent": 63,
		"status": "wayline_progress",
		"result": 0,
		"sub_status": 1,
		"stop_reason": 0,
		"remaining_distance": 15,
		"remaining_time": 12,
		"speed": 3,
		"pos_frame": 2,
		"yaw_frame": 0,
		"gimbal_frame": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "fly_to_point_progress_v2"
}

One-click Takeoff Result Event Notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	constraint	Description
status	Task Status	enum_string	{"task_finish":"One-key takeoff task completed", "task_ready":"Ready for takeoff", "wayline_cancel":"Target waypoint flight canceled", "wayline_failed":"Execution failed", "wayline_ok":"Execution successful, target waypoint reached", "wayline_progress":"In progress"}	Task execution status
result	Return Code	int		Non-zero indicates an error
percent	Task Progress Percentage	int	{"max":100,"min":0,"step":1}	Progress of the one-click takeoff. 100 when completed
flight_id	One-click Takeoff Task UUID	text		Unique identifier of the one-click takeoff task
track_id	Track ID	text		Unique track identifier
way_point_index	Current Waypoint Index	int		Current waypoint index being executed
remaining_distance	Remaining Task Distance	float	{"step":0.1, "unit_name":"meters / m"}	Remaining distance to the target point
remaining_time	Remaining Task Time	float	{"step":0.1, "unit_name":"seconds / s"}	Estimated remaining flight time
planned_path_points	Planned Path Points	array	{"}size": -, "item_type": struct}	Planned wayline trajectory points
»latitude	Trajectory Point Latitude (Degrees)	double	{"max":90,"min":-90}	Latitude of the trajectory point, with 6 decimal place accuracy
»longitude	Trajectory Point Longitude (Degrees)	double	{"max":180,"min":-180}	Longitude of the trajectory point, with 6 decimal place accuracy
»height	Trajectory Point Altitude	float	{"step":0.1, "unit_name":"meters / m"}	Altitude of the trajectory point, ellipsoid height

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"percent": 100,
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_ok",
		"track_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"way_point_index": 1
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "takeoff_to_point_progress"
}

Point of Interest Orbit Status Notification

Reported by the dock on its own initiative. Once poi_mode_enter is accepted, the status is reported at 1 Hz, plus one extra push when a terminal state is reached. A wayline_failed message is also pushed when the command is rejected.

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: poi_status_notify

Data:

Column	Name	Type	constraint	Description
status	Task Status	enum_string	{"in_progress":"Orbiting", "wayline_failed":"Execution failed (terminal)", "wayline_ok":"Finished normally (terminal)"}	Terminal states share the wayline_* code space with flyto. Note the in-progress state is in_progress, not wayline_progress
reason	Result Code	int	{"0":"Normal", "3":"Illegal command (parameter validation failure / concurrency conflict)", "4":"Positioning failed", "5":"Drone has not taken off", "6":"Wrong flight mode (AI tracking / orbit tracking in progress)", "7":"Unavailable in the current mode (returning / landing / wayline task in progress)", "8":"Remote controller or image transmission signal lost (including telemetry unavailable)"}	A different code space from the result of services_reply; the two are two expressions of the same rejection
circle_radius	Effective Orbit Radius	float	{"step":0.1, "unit_name":"meters / m"}	The radius actually in effect for this orbit
circle_speed	Effective Orbit Speed	float	{"step":0.1, "unit_name":"meters per second / m/s"}	The effective value, resolved when poi_mode_enter is accepted in the order "poi_circle_speed_set preset > value carried in this command > default 5", and fixed for the rest of the orbit. When a preset exists, the preset value is reported instead of the value carried in the command. Negative is clockwise, positive is counterclockwise
max_circle_speed	Orbit Speed Upper Limit	float	{"step":0.1, "unit_name":"meters per second / m/s"}	The reference range published by the dock, fixed at 15
progress	Task Progress Percentage	int	{"max":100,"min":0,"step":1}	Reported by the drone. Monotonically non-decreasing; 100 in the terminal state

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"circle_radius": 50,
		"circle_speed": 5,
		"max_circle_speed": 15,
		"progress": 60,
		"reason": 0,
		"status": "in_progress"
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_status_notify"
}

Flight Control Grab

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flight_authority_grab

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flight_authority_grab

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

Load Control Grab

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
payload_index	Payload enumeration value	text		Lens Payload and Mounting Position Enumeration Values Non-standard device_mode_key, format: {type-subtype-gimbalindex}. Please refer to the product support page for details.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "payload_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: payload_authority_grab

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "payload_authority_grab"
}

Enter Command Flight Control Mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
mqtt_broker	Broker Connection Info	struct		Retrieve the MQTT relay service address and authentication information
»address	Server Connection Address	text		Server connection address, e.g., 192.0.2.1:8883, mqtt.autel.com:8883
»client_id	Client ID	text		Customizable MQTT client ID. It is recommended to use the device SN code as the prefix followed by a suffix, e.g., 4J4R101-drc. Using the device SN code alone is not recommended, as clients with the same ID force each other offline
»username	Username	text		Username used for establishing the connection
»password	Password	text		Password required for authentication when establishing the connection
»expire_time	Authentication Expiry Time	int	{"unit_name":"seconds / s"}	Authentication information can be reused within the validity period, and its expiration does not affect already established connections
»enable_tls	Enable TLS	bool		Enable TLS to encrypt the MQTT link
osd_frequency	OSD Frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set the OSD reporting frequency
hsi_frequency	HSI Frequency	int	{"max":30,"min":1,"unit_name":"Hertz / Hz"}	Set the HSI reporting frequency

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"hsi_frequency": 1,
		"mqtt_broker": {
			"address": "mqtt.autel.com:8883",
			"client_id": "sn_a",
			"enable_tls": true,
			"expire_time": 1672744922,
			"password": "jwt_token",
			"username": "sn_a_username"
		},
		"osd_frequency": 10
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

Exit Command Flight Control Mode

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_exit

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_exit

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

One-click Takeoff

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
target_latitude	Target Latitude (Degrees)	double	{"max":90,"min":-90}	Target point latitude, in degrees. Negative for south, positive for north. Precision up to six decimal places.
target_longitude	Target Longitude (Degrees)	double	{"max":180,"min":-180}	Target point longitude, in degrees. Negative for west, positive for east. Precision up to six decimal places.
target_height	Target Height	float	{"max":1500, "min":2, "step":0.1, "unit_name":"meters / m"}	Target point height (relative height). The default action for the drone after reaching the point is to hover.
flight_id	One-click Takeoff Task UUID	text		Task UUID, globally unique, used to identify and distinguish between normal scheduled tasks and one-key takeoff tasks on the cloud.
max_speed	Maximum Speed During One-click Takeoff	int	{"max":15, "min":1, "unit_name":"meters per second / m/s"}	Maximum flight speed
precision_type	Task Precision Type	enum_int	{1: RTK, 0: GNSS}	Optional field specifying whether the takeoff task is RTK or GNSS. Defaults to 0 (GNSS).
barrier_switch_state	Obstacle avoidance switch	enum_int	{0: Turn off obstacle avoidance, 1: Turn on obstacle avoidance}	Optional field, obstacle avoidance switch state.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "ABDEAC21DCADDA",
		"max_speed": 12,
		"target_height": 100,
		"target_latitude": 12.23,
		"target_longitude": 12.32
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

Flyto Fly to the Target Point

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto Target Point ID	text		Task ID for flying to the target point
max_speed	Maximum Speed During Flyto	int	{"max":15, "min":1, "unit_name":"meters per second / m/s"}	Maximum flight speed. Must be greater than 0, otherwise a parameter error is returned
points	Flyto Target Points List	array	{"}size": -, "item_type": struct}	Only supports 1 target point
»latitude	Target Point Latitude (Degrees)	double	{"max":90,"min":-90}	Target point latitude, in degrees. Negative for south, positive for north. Precision up to six decimal places
»longitude	Target Point Longitude (Degrees)	double	{"max":180,"min":-180}	Target point longitude, in degrees. Negative for west, positive for east. Precision up to six decimal places
»height	Target Point Height	float	{"max":10000, "min":2, "step":0.1, "unit_name":"meters / m"}	Target point height (related height)

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"max_speed": 12,
		"points": [
			{
				"height": 100,
				"latitude": 12.23,
				"longitude": 12.23
			}
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

Fly to the Target Point V2

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_v2

Data:

Column	Name	Type	constraint	Description
fly_to_id	Flyto Target Point ID	text		Task ID for flying to the target point
pos_frame	Position Coordinate System	int	{"min":0,"max":2}	0=Body (forward-right-up) / 1=Geographic (North-East-Up) / 2=GPS
is_pos_valid	Position Validity	int	{"min":0,"max":1}	Whether position is controlled (1=valid)
pos_x	Position X	double		By pos_frame: body = forward (m, relative); NEU = northward (m); GPS = longitude (degrees)
pos_y	Position Y	double		By pos_frame: body = rightward (m, relative); NEU = eastward (m); GPS = latitude (degrees)
pos_z	Position Z	double		By pos_frame: body = upward (m, relative); NEU = up (m, positive upward); GPS = ellipsoidal height (m)
max_vel	Maximum Speed	double		Maximum flight speed (m/s), range (0, 25]
yaw_frame	Yaw Coordinate System	int	{"min":0,"max":1}	0=Body (relative to current heading) / 1=Geographic (absolute, north=0)
is_yaw_valid	Yaw Validity	int	{"min":0,"max":1}	Whether yaw is controlled (1=valid)
yaw	Yaw Angle	double		Target yaw (rad); relative in body frame, north=0 in geographic frame
max_yaw_rate	Maximum Yaw Rate	double		Maximum yaw angular rate (rad/s)
gimbal_frame	Gimbal Coordinate System	int	{"min":0,"max":3}	0=Body / 1=Geographic (fixed roll-pitch-yaw) / 2=GPS (look-at point) / 3=Image (pixels)
is_gimbal_valid	Gimbal Validity	int	{"min":0,"max":1}	Whether gimbal is controlled (1=valid)
gimbal_x	Gimbal X	double		Gimbal roll (rad); GPS frame = look-at point longitude (degrees); image frame = width ratio
gimbal_y	Gimbal Y	double		Gimbal pitch (rad); GPS frame = look-at point latitude (degrees); image frame = height ratio
gimbal_z	Gimbal Z	double		Gimbal yaw (rad); GPS frame = look-at point height (m); image frame = 0
max_gimbal_rate	Maximum Gimbal Rate	double		Maximum gimbal angular rate (rad/s)

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"pos_frame": 1,
		"is_pos_valid": 1,
		"pos_x": 0.0,
		"pos_y": 0.0,
		"pos_z": -35.0,
		"max_vel": 0.0,
		"yaw_frame": 0,
		"is_yaw_valid": 0,
		"yaw": 0.0,
		"max_yaw_rate": 0.0,
		"gimbal_frame": 0,
		"is_gimbal_valid": 0,
		"gimbal_x": 0.0,
		"gimbal_y": 0.0,
		"gimbal_z": 0.0,
		"max_gimbal_rate": 0.0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_v2"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_v2

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_v2"
}

End the Flyto Mission

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_stop

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

Pause the Flyto Mission

Pauses the current flyto mission. The drone hovers in place and the mission is not terminated. This only applies to flyto missions; use flighttask_pause to pause a wayline task. While paused, the status of fly_to_point_progress becomes wayline_paused and percent is frozen at the value captured at pause time.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: mission_pause

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "mission_pause"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: mission_pause

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error. Returns non-zero when there is no flyto mission in progress, the mission is already paused, or telemetry is unavailable

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "mission_pause"
}

Resume the Flyto Mission

Continues flying to the original target point from the paused position. There is no need to send the target point again. Only available when the mission is currently paused.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: mission_recovery

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "mission_recovery"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: mission_recovery

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error. Returns non-zero when there is no flyto mission in progress, the mission is not paused, or telemetry is unavailable

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "mission_recovery"
}

Enter Point of Interest Orbit

Makes the drone circle around the latitude and longitude given by the cloud. The drone must already be airborne, and it must not be in AI tracking or orbit tracking. While orbiting, the OSD mode_code is 23 and the status is reported through poi_status_notify.

A minimal command only needs latitude / longitude / height; the remaining fields fall back to the values listed below when omitted. When the command is rejected, you receive both a services_reply with a non-zero result and a poi_status_notify whose status is wayline_failed.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: poi_mode_enter

Data:

Column	Name	Type	constraint	Description
latitude	Target Point Latitude (Degrees)	double	{"max":90,"min":-90}	Required. Latitude of the target point, in degrees, negative for south and positive for north, accurate to 6 decimal places
longitude	Target Point Longitude (Degrees)	double	{"max":180,"min":-180}	Required. Longitude of the target point, in degrees, positive for east and negative for west, accurate to 6 decimal places
height	Target Point Height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"meters / m"}	Required. Height of the target point; the reference is specified by height_ref
height_ref	Target Point Height Reference	int	{"0":"Absolute altitude", "1":"Height relative to the takeoff point"}	Optional, defaults to 1. Any other value is rejected
circle_radius	Orbit Radius	float	{"min":0,"step":0.1,"unit_name":"meters / m"}	Optional, defaults to 30. Must be greater than 0. The reference range is [5, 500]; values outside it are still passed through to the drone as-is
orbit_height	Orbit Height	float	{"step":0.1,"unit_name":"meters / m"}	Optional, defaults to 30. Height relative to the target point
circle_speed	Orbit Speed	float	{"step":0.1,"unit_name":"meters per second / m/s"}	Optional. Negative is clockwise, positive is counterclockwise. The reference range is |value| ≤ 15; all values including 0 are passed through as-is without numeric validation. See the priority note below for the effective value
gimbal_pitch	Gimbal Pitch	float	{"max":0,"min":-90,"step":0.1,"unit_name":"degrees / °"}	Optional. Gimbal pitch during the approach phase. Omitting it keeps the current gimbal angle
circle_count	Number of Circles	int	{"min":0}	Optional. Omitted or 0 means orbit indefinitely; the drone stops automatically once the configured number of circles is completed

The effective circle_speed is resolved with the priority preset > command > configured default (5 m/s): once a preset has been set through poi_circle_speed_set, it overrides the circle_speed carried in this command. The effective value is the circle_speed reported by poi_status_notify.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"circle_count": 3,
		"circle_radius": 50,
		"circle_speed": 5,
		"gimbal_pitch": -30,
		"height": 80,
		"height_ref": 1,
		"latitude": 22.5678901,
		"longitude": 113.9012345,
		"orbit_height": 10
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_mode_enter"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: poi_mode_enter

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_mode_enter"
}

Exit Point of Interest Orbit

Ends the current point of interest orbit and the drone hovers in place. The drone side has no dedicated "exit orbit" command, so this method sends exactly the same payload to the drone as drone_emergency_stop.

The command is sent even when the dock has no local record of an orbit mission (for example after a dock restart), since this is the cloud's only way to stop the drone. It is rejected when telemetry is unavailable, however, to avoid sending a global mission terminator blindly; in that case the reason of poi_status_notify is 8. It is likewise rejected while the drone is executing a wayline task, returning home, or landing, with reason 7.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: poi_mode_exit

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_mode_exit"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: poi_mode_exit

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_mode_exit"
}

Set the Point of Interest Orbit Speed Preset

Presets the orbit speed for the next point of interest orbit.

This method only takes effect on the next poi_mode_enter (it does not change an orbit that is already in progress, so the UI should not present it as a live slider while orbiting), and it takes priority over the circle_speed carried in poi_mode_enter. The preset does not survive a dock restart. The effective value is the circle_speed reported by poi_status_notify.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: poi_circle_speed_set

Data:

Column	Name	Type	constraint	Description
circle_speed	Orbit Speed	float	{"step":0.1,"unit_name":"meters per second / m/s"}	Required. Negative is clockwise, positive is counterclockwise. The reference range is |value| ≤ 15; all values including 0 are passed through as-is without numeric validation

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"circle_speed": -3
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_circle_speed_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: poi_circle_speed_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error. Returns non-zero when circle_speed is missing or is not a number

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "poi_circle_speed_set"
}

Joystick Control Invalid Reason Notification

The joystick is a comprehensive control feature for the drone. If it is unavailable, the drone_control capability will not be functional, preventing manual control.

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: joystick_invalid_notify

Data:

Column	Name	Type	constraint	Description
reason	Failure Reason	int	{"0":"Unknown reason","1":"No flight control authority","2":"Aircraft not connected","3":"Aircraft not in flight","4":"DRC mode not active","5":"Emergency stop in progress","6":"Signal lost","7":"Battery too low","8":"Geofence limit"}	Reason for joystick control invalidation

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"reason": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "joystick_invalid_notify"
}

Payload Control—Single Shot

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_take"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_take

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_take"
}

Payload Control—Start Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_start"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_start

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_start"
}

Payload Control—Stop Recording

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_recording_stop

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_recording_stop"
}

Payload Control—Screen Drag Control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.
locked	Whether the relationship between the drone head and gimbal is locked	bool	{"false":"Only the gimbal rotates, the drone body does not rotate","true":"Lock the drone head, both the gimbal and body rotate together"}	When locked, the gimbal and body rotate together
pitch_speed	Gimbal pitch speed	double	{"unit_name":"determined by angle_unit"}	Gimbal pitch speed, only supports gimbal rotation
yaw_speed	Gimbal yaw speed	double	{"unit_name":"determined by angle_unit"}	Gimbal yaw speed, only supports locked drone head
angle_unit	Speed unit	int	{0: radians per second rad/s, 1: degrees per second deg/s}	Optional, defaults to 0 (radians per second)

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"locked": false,
		"payload_index": "10902-0-0",
		"pitch_speed": 0.1,
		"yaw_speed": 0.1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_drag"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_drag

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_drag"
}

Payload Control—Zoom

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.
camera_type	Camera Type	enum_string	{"ir":"Infrared","wide":"Wide Angle","zoom":"Zoom"}	Enum for camera types
zoom_factor	Zoom Factor	double	{"max":200,"min":2}	Zoom factor, visible light range: 2-200, infrared range: 2-20

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"payload_index": "10902-0-0",
		"zoom_factor": 5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focal_length_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_set"
}

Payload Control—Zoom Drag Control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focal_length_drag

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.
camera_type	Camera Type	enum_string	{"ir":"Infrared","zoom":"Zoom"}	Required. Camera type enum
zoom_type	Zoom Action	enum_int	{"0":"Zoom out","1":"Zoom in","2":"Stop"}	Direction of the continuous zoom action, defaults to 2 (stop). Zooming in or out continues until another command with zoom_type=2 is sent

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"camera_type": "zoom",
		"zoom_type": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_drag"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focal_length_drag

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focal_length_drag"
}

Payload Control—Reset Gimbal

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
payload_index	Payload ID	text		Payload ID, camera enumeration value. Non-standard device_mode_key, format is {type-subtype-gimbalindex}, refer to [Product Support] for details
reset_mode	Reset Mode	enum_int	{"0":"Center","1":"Downward","2":"Yaw Center","3":"45 Degrees Downward"}	Gimbal reset mode

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"reset_mode": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_reset"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: gimbal_reset

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_reset"
}

Payload Control—Photo Storage Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}, refer to [Product Support] for details
photo_storage_settings	Photo Storage Settings Collection	array	{"}size": -, "item_type": enum_string}	Photo storage types {wide, zoom, ir, nightvision}, multiple selections are allowed

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"photo_storage_settings": [
			"wide",
			"zoom",
			"ir",
			"nightvision"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "photo_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: photo_storage_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "photo_storage_set"
}

Payload Control—Video Storage Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. Non-standard device_mode_key, formatted as {type-subtype-gimbalindex}, refer to [Product Support] for details
video_storage_settings	Video Storage Settings Collection	array	{"}size": -, "item_type": enum_string}	Video storage types {wide, zoom, ir, nightvision}, multiple selections are allowed

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"video_storage_settings": [
			"wide",
			"zoom",
			"ir",
			"nightvision"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_storage_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_storage_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_storage_set"
}

Payload Control—Look At

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
latitude	Target Latitude	double	{"max":90,"min":-90}	Angle value. Negative for southern latitudes, positive for northern latitudes, accurate to 6 decimal places.
longitude	Target Longitude	double	{"max":180,"min":-180}	Angle value. Positive for eastern longitudes, negative for western longitudes, accurate to 6 decimal places.
height	Target Height	float	{"max":10000,"min":2,"step":0.1,"unit_name":"meters / m"}	Height of the target point

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"height": 100,
		"latitude": 12.23,
		"longitude": 12.23
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_look_at"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_look_at

Data:

Column	Name	Type	constraint	Description
result	Result code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_look_at"
}

Payload Control—Double-Tap to AIM

The double-tap AIM feature allows you to double-tap a target point within the camera lens field of view, and that target point becomes the center of the lens field of view.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details.
camera_type	Camera Type	enum_string	{"ir":"Infrared","zoom":"Zoom"}	Camera type enum
locked	Whether the relationship between the drone head and gimbal is locked	bool	{"false":"Only the gimbal rotates, the drone body does not rotate","true":"Lock the drone head, both the gimbal and body rotate together"}	Optional, defaults to false. When locked, the gimbal and body rotate together
x	Screen X coordinate	float	{"max":1,"min":0}	Optional, defaults to 0.5. Horizontal ratio coordinate of the aim point within the frame, 0~1
y	Screen Y coordinate	float	{"max":1,"min":0}	Optional, defaults to 0.5. Vertical ratio coordinate of the aim point within the frame, 0~1

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"camera_type": "zoom",
		"locked": false,
		"x": 0.5,
		"y": 0.5
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_aim"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_aim

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_aim"
}

Payload Control—Gimbal Angle Control

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_rotate_angle

Data:

pitch_angle and yaw_angle are optional, but at least one of the two must be provided, otherwise a parameter error is returned.

Column	Name	Type	constraint	Description
payload_index	Camera Enum	text		Camera enumeration value. A non-standard device_mode_key, formatted as {type-subtype-gimbalindex}. You can refer to the [Product Support] for details. Not supported by the current firmware.
pitch_angle	Pitch angle	double	{"max":30,"min":-90,"unit_name":"degrees / deg"}	Gimbal pitch angle, -90 degrees represents downward, 30 degrees represents upward
yaw_angle	Yaw angle	double	{"max":180,"min":-180,"unit_name":"degrees / deg"}	Gimbal yaw angle

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"pitch_angle": -45.0,
		"yaw_angle": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_rotate_angle"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: gimbal_rotate_angle

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_rotate_angle"
}

Payload Control—Camera Exposure Value Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
camera_type	Lens type	text	{"enum": ["wide", "zoom", "telezoom", "ir", "nightvision"]}	Required, case-insensitive
exposure_value	Exposure value	double	{"unit_name":"EV"}	Required, value range comes from the camera capability set

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"exposure_value": 0.3
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_set"
}

Payload Control—Camera Exposure Compensation Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_exposure_compensation_set

Data:

Column	Name	Type	constraint	Description
camera_type	Lens type	text	{"enum": ["wide", "zoom", "telezoom", "ir", "nightvision"]}	Required, case-insensitive
exposure_compensation_value	Exposure compensation	int	{"unit_name":"EV"}	Required, value range comes from the camera capability set

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"exposure_compensation_value": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_compensation_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_exposure_compensation_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_exposure_compensation_set"
}

Payload Control—Camera ISO Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_iso_mode_set

Data:

Column	Name	Type	constraint	Description
iso_mode	ISO mode	int	{"0": Auto, "1": Manual}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"iso_mode": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_iso_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_iso_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_iso_mode_set"
}

Payload Control—Camera Shutter Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_shutter_mode_set

Data:

Column	Name	Type	constraint	Description
shutter_mode	Shutter mode	int	{"0": Auto, "1": Manual}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"shutter_mode": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_shutter_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_shutter_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_shutter_mode_set"
}

Payload Control—Infrared Temperature Measurement Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
mode	Measurement mode	int	{"0": Off, "1": Spot, "2": Region}	Required
payload_index	Camera Enum	text		Optional, defaults to "0"

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"mode": 1,
		"payload_index": "0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_mode_set"
}

Payload Control—Infrared Temperature Measurement Spot Setting

Switches to spot measurement mode automatically after a successful setting.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
x	X coordinate	float	{"max":1,"min":0}	Required, ratio of the frame width
y	Y coordinate	float	{"max":1,"min":0}	Required, ratio of the frame height
payload_index	Camera Enum	text		Optional, defaults to "0"

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"x": 0.5,
		"y": 0.5,
		"payload_index": "0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_point_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_point_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_point_set"
}

Payload Control—Infrared Temperature Measurement Region Setting

Switches to region measurement mode automatically after a successful setting.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
x	X coordinate	float	{"max":1,"min":0}	Required, ratio of the frame width, top-left corner
y	Y coordinate	float	{"max":1,"min":0}	Required, ratio of the frame height, top-left corner
width	Region width	float	{"max":1,"min":0}	Required, x + width must not be greater than 1
height	Region height	float	{"max":1,"min":0}	Required, y + height must not be greater than 1
payload_index	Camera Enum	text		Optional, defaults to "0"

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"x": 0.3,
		"y": 0.3,
		"width": 0.4,
		"height": 0.4,
		"payload_index": "0"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_area_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: ir_metering_area_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "ir_metering_area_set"
}

Payload Control—Camera ISO Value Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_iso_value_set

Data:

Column	Name	Type	constraint	Description
iso_value	ISO value	int	{100, 200, 400, 800, 1600, 2400, 3200, 4800, 6400, 12800, 25600}	Required. Effective in manual ISO mode

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"iso_value": 400
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_iso_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_iso_value_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_iso_value_set"
}

Payload Control—Camera Shutter Speed Value Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_shutter_value_set

Data:

Column	Name	Type	constraint	Description
shutter_value	Shutter value	text	Format: {numerator}/{denominator}	Required. Effective in manual shutter mode

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"shutter_value": "1/80"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_shutter_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_shutter_value_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_shutter_value_set"
}

Payload Control—Camera White Balance Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_white_balance_mode_set

Data:

Column	Name	Type	constraint	Description
white_balance_mode	White balance mode	int	{"0": Auto, "1": Sunny, "2": Cloudy, "3": Incandescent, "4": Fluorescent, "5": Custom}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"white_balance_mode": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_white_balance_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_white_balance_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_white_balance_mode_set"
}

Payload Control—Camera White Balance Color Temperature Value Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_white_balance_value_set

Data:

Column	Name	Type	constraint	Description
white_balance_value	Color temperature	int	2000-10000, step 100	Required. Effective when white balance mode is Custom

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"white_balance_value": 5000
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_white_balance_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_white_balance_value_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_white_balance_value_set"
}

Payload Control—Camera Focus Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
focus_mode	Focus mode	int	{"1": Auto focus, "2": Manual focus}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"focus_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_mode_set"
}

Payload Control—Camera Focus Value Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
focus_value	Focus object distance	int	0-50, unit: mm	Required. Effective in manual focus mode

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"focus_value": 10
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_focus_value_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_focus_value_set"
}

Payload Control—Camera Brightness Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_brightness_value_set

Data:

Column	Name	Type	constraint	Description
brightness_value	Brightness	int	0-60	Required
camera_type	Lens type	text	{"wide", "zoom"}	Optional. Defaults to zoom

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"brightness_value": 30,
		"camera_type": "zoom"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_brightness_value_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_brightness_value_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_brightness_value_set"
}

Payload Control—Camera Photo Size Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_photo_size_set

Data:

Column	Name	Type	constraint	Description
camera_type	Lens type	text	{"zoom", "ir"}	Required
photo_size	Photo size	text	Format: {width}x{height}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"photo_size": "4000x3000"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_size_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_photo_size_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_photo_size_set"
}

Payload Control—Camera Video Resolution Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_video_resolution_set

Data:

Column	Name	Type	constraint	Description
camera_type	Lens type	text	{"zoom", "ir"}	Required
video_resolution	Video resolution	text	Format: {width}x{height}	Required
video_fps	Frame rate	int	Greater than or equal to 0	Optional. The current frame rate is retained if omitted

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"camera_type": "zoom",
		"video_resolution": "3840x2160",
		"video_fps": 30
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_video_resolution_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_video_resolution_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_video_resolution_set"
}

Payload Control—Camera Electronic Defog Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_defog_mode_set

Data:

Column	Name	Type	constraint	Description
defog_mode	Defog mode	int	{"0": Off, "1": Low, "2": Medium, "3": High}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"defog_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_defog_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_defog_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_defog_mode_set"
}

Payload Control—Camera Ultra Sensitivity Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_ultra_pixel_mode_set

Data:

Column	Name	Type	constraint	Description
ultra_pixel_mode	Ultra pixel mode	int	{"0": Off, "1": On}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"ultra_pixel_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ultra_pixel_mode_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_ultra_pixel_mode_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ultra_pixel_mode_set"
}

Payload Control—Infrared FFC Calibration

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_ffc

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ffc"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_ffc

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ffc"
}

Payload Control—Linkage Zoom Switch

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_linkage_zoom

Data:

Column	Name	Type	constraint	Description
linkage_zoom_mode	Linkage zoom	int	{"0": Off, "1": On}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"linkage_zoom_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_linkage_zoom"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_linkage_zoom

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_linkage_zoom"
}

Payload Control—Reset Camera Settings

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_reset

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_reset"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_reset

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_reset"
}

Payload Control—Infrared Dual-Light Fusion Switch

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_ir_fusion_set

Data:

Column	Name	Type	constraint	Description
ir_fusion_mode	Dual-light fusion	int	{"0": Off, "1": On}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"ir_fusion_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ir_fusion_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_ir_fusion_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ir_fusion_set"
}

Payload Control—Infrared Super Resolution Switch

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_ir_super_resolution_set

Data:

Column	Name	Type	constraint	Description
ir_super_resolution_mode	Infrared super resolution	int	{"0": Off, "1": On}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"ir_super_resolution_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ir_super_resolution_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_ir_super_resolution_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_ir_super_resolution_set"
}

Payload Control—Infrared Image Enhancement Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_thermal_image_enhance_set

Data:

Column	Name	Type	constraint	Description
thermal_image_enhance_mode	Thermal image enhancement switch	int	{"0": Off, "1": On}	At least one of this field and thermal_image_enhance_value is required
thermal_image_enhance_value	Enhancement level	int	1-8	At least one of this field and thermal_image_enhance_mode is required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"thermal_image_enhance_mode": 1,
		"thermal_image_enhance_value": 4
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_thermal_image_enhance_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_thermal_image_enhance_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_thermal_image_enhance_set"
}

Payload Control—Camera Screen Split Mode Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
split_mode	Screen split mode	int	{"0": Visible light, "1": Picture in picture, "2": Infrared, "3": Split screen}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"split_mode": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_split"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_screen_split

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_screen_split"
}

Payload Control—Arm Light Switch

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: camera_arm_light_set

Data:

Column	Name	Type	constraint	Description
arm_light	Arm light	int	{"0": Turn off automatically, "1": Keep on}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"arm_light": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_arm_light_set"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: camera_arm_light_set

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "camera_arm_light_set"
}

Payload Control—Camera Video Format Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_format_settings

Data:

Column	Name	Type	constraint	Description
video_format_type	Video format	int	{"0": MOV, "1": MP4, "2": TIFF}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"video_format_type": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_format_settings"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_format_settings

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_format_settings"
}

Payload Control—Camera Video Encoding Format Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_encode_settings

Data:

Column	Name	Type	constraint	Description
video_encode_type	Video encoding format	int	{"0": H264, "1": H265}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"video_encode_type": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_encode_settings"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_encode_settings

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_encode_settings"
}

Payload Control—Camera Video Subtitle Switch

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: video_subtitle_mode

Data:

Column	Name	Type	constraint	Description
video_subtitle_enable	Video subtitle	int	{"0": Off, "1": On}	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"video_subtitle_enable": 1
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_subtitle_mode"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: video_subtitle_mode

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "video_subtitle_mode"
}

Payload Control—Gimbal Pitch Max Speed Setting

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: gimbal_pitch_max_speed

Data:

Column	Name	Type	constraint	Description
payload_index	Payload index	text		Required
gimbal_pitch_max_speed	Gimbal pitch max speed	int	0-100	Required

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"payload_index": "10902-0-0",
		"gimbal_pitch_max_speed": 50
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_pitch_max_speed"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: gimbal_pitch_max_speed

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "gimbal_pitch_max_speed"
}

Video Transmission Point Result Event Notification

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: intelligent_point

Data:

Column	Name	Type	constraint	Description
req_id	Request ID	int		Request ID, consistent with the request ID passed during pointing
status	Point result	int	0: Failed 1: Successful	Video transmission point result status
latitude	Latitude	double		Precision: 10e-7
longitude	Longitude	double		Precision: 10e-7
altitude	Relative altitude	double		Relative altitude of the target point

Video Transmission Point

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: intelligent_point

Data:

Column	Name	Type	constraint	Description
x	X coordinate	double	{"max":1.0,"min":0"}	Ratio of the point in the video frame, center point is 0.5
y	Y coordinate	double	{"max":1.0,"min":0"}	Ratio of the point in the video frame, center point is 0.5
width	Video resolution width	int		Video frame width
height	Video resolution height	int		Video frame height
lens_type	Lens type	int	0: Zoom, 1: Infrared, 2: Wide angle, 3: Tele zoom, 4: Long-range infrared, 5: Night vision, 6: Visible light, 7: Telephoto	Lens type enum
req_id	Request ID	int		Consecutive video transmission point req_id must be different

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "x": 0.5,
        "y": 0.5,
        "width": 1920,
        "height": 1080,
        "lens_type": 0,
        "req_id": 1
    },
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1654070968655,
    "method": "intelligent_point"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: intelligent_point

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "result": 0
    },
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1654070968655,
    "method": "intelligent_point"
}

DRC

DRC-Flight Control

Once in command flight mode, this instruction allows control of the drone's flight direction and speed. The sending frequency must be maintained between 5-10 Hz to ensure the device can accurately control changes in speed and direction.At the same time, it is necessary to ensure that the aircraft is in a propeller flight state; otherwise, it will be ineffective.

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_control

Data:

Column	Name	Type	constraint	Description
seq	Command Sequence	int		Incremental sequence number to ensure commands are executed in order. If the x, y, h, or w parameters change, seq must start increasing from 0.
x	Forward/Backward Speed	double	{"max":17, "min":-17, "unit_name":"meters per second / m/s"}	Maximum forward/backward speed, negative values indicate backward movement
y	Left/Right Speed	double	{"max":17, "min":-17, "unit_name":"meters per second / m/s"}	Maximum left/right speed, negative values indicate leftward movement
h	Up/Down Speed	double	{"max":5, "min":-4, "unit_name":"meters per second / m/s"}	Maximum up/down speed, negative values indicate downward movement
w	Yaw Angular Speed	double	{"max":65, "min":-65, "unit_name":"degrees per second / deg/s"}	Maximum yaw angular speed, negative values indicate counterclockwise rotation. Values beyond the range are clamped

Example:

{
	"data": {
		"freq": 10,
		"h": 2.76,
		"seq": 1,
		"w": 2.86,
		"x": 2.34,
		"y": -2.45
	},
	"method": "drone_control"
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: drone_control

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero indicates an error, exceptional cases include: no flight control, no virtual joystick permission, incorrect data packet sequence
output	Output	struct		Output of the drone control command
»seq	Command Sequence	int		Incremental sequence number to ensure commands are executed in order

Example:

{
	"data": {
		"output": {
			"seq": 1
		},
		"result": 0
	},
	"method": "drone_control"
}

DRC-Drone Emergency Stop

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_emergency_stop

Data: null

Example:

{
	"data": {},
	"method": "drone_emergency_stop"
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: drone_emergency_stop

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error

Example:

{
	"data": {
		"result": 0
	},
	"method": "drone_emergency_stop"
}

DRC-Heartbeat

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	DRC-Obstacle Avoidance Information Reporting	int		Incremental sequence number to ensure the command is executed in order
timestamp	Heartbeat Timestamp	int	{"unit_name":"milliseconds / ms"}	Timestamp of when the heartbeat was sent, not the device-side time, to help the cloud calculate delay based on send/receive intervals

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: heart_beat

Data:

Column	Name	Type	constraint	Description
seq	Command Sequence	int		Incremental sequence number to ensure the command is executed in order
timestamp	Heartbeat Timestamp	int	{"unit_name":"milliseconds / ms"}	Timestamp of when the heartbeat was sent, not the device-side time, to help the cloud calculate delay based on send/receive intervals

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat"
}

DRC-Obstacle Avoidance Information Reporting

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	constraint	Description
down_distance	Distance to obstacle below	int	Unit: mm	Distance to the obstacle below
up_distance	Distance to obstacle above	int	Unit: mm	Distance to the obstacle above
front1_distance	Distance to obstacle from front radar 1	int	Unit: mm	Front radar 1 detection distance
front2_distance	Distance to obstacle from front radar 2	int	Unit: mm	Front radar 2 detection distance
front3_distance	Distance to obstacle from front radar 3	int	Unit: mm	Front radar 3 detection distance
front4_distance	Distance to obstacle from front radar 4	int	Unit: mm	Front radar 4 detection distance
left1_distance	Distance to obstacle from left radar 1	int	Unit: mm	Left radar 1 detection distance
left2_distance	Distance to obstacle from left radar 2	int	Unit: mm	Left radar 2 detection distance
left3_distance	Distance to obstacle from left radar 3	int	Unit: mm	Left radar 3 detection distance
rear1_distance	Distance to obstacle from rear radar 1	int	Unit: mm	Rear radar 1 detection distance
rear2_distance	Distance to obstacle from rear radar 2	int	Unit: mm	Rear radar 2 detection distance
rear3_distance	Distance to obstacle from rear radar 3	int	Unit: mm	Rear radar 3 detection distance
rear4_distance	Distance to obstacle from rear radar 4	int	Unit: mm	Rear radar 4 detection distance
right1_distance	Distance to obstacle from right radar 1	int	Unit: mm	Right radar 1 detection distance
right2_distance	Distance to obstacle from right radar 2	int	Unit: mm	Right radar 2 detection distance
right3_distance	Distance to obstacle from right radar 3	int	Unit: mm	Right radar 3 detection distance
radar_enable	Obstacle avoidance switch	boolean		Obstacle avoidance switch status

Example:

{
  "bid":"xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "data":{
    "down_distance":0,
    "front1_distance":0,
    "front2_distance":0,
    "front3_distance":0,
    "front4_distance":0,
    "left1_distance":0,
    "left2_distance":0,
    "left3_distance":0,
    "radar_enable":true,
    "rear1_distance":0,
    "rear2_distance":0,
    "rear3_distance":0,
    "rear4_distance":0,
    "right1_distance":0,
    "right2_distance":0,
    "right3_distance":0,
    "up_distance":0
  },
  "tid":"xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "timestamp":1726131014572,
  "method":"hsi_info_push"
}