Wayline Management

Event

Report Wayline Mission Progress

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
output	Content	struct
»ext	Extension content	struct
»»current_waypoint_index	Number of waypoints currently executed	int
»»media_count	Number of media files generated during this wayline mission execution	int
»»flight_id	Mission ID	text
»status	Mission status	enum_string	{"pending":"Execution started","canceled":"Canceled or terminated","failed":"Failed","in_progress":"In progress","ok":"Executed successfully","partially_done":"Partially completed","paused":"Paused","rejected":"Rejected","sent":"Sent","timeout":"Timed out"}
»progress	Progress	struct
»»current_step	Execution step	enum_int	{"0":"Initial state","1":"Pre-launch check, checking if the drone is executing the wayline","2":"Pre-launch check, verifying if the dock station has exited working mode","3":"Pre-launch check, wayline execution in progress","4":"Pre-launch check, returning to home","5":"Wayline execution entering preparation state, awaiting mission assignment","6":"Dock station entering working state","7":"Pre-launch checks and cover opening preparation","8":"Awaiting flight system readiness, establishing connection","9":"Waiting for RTK source listener to report","10":"Checking if RTK is ready","14":"Downloading mission file","15":"Mission file upload in progress","17":"Drone takeoff parameter setup, alternate landing point setup, takeoff altitude setup","18":"Drone flyto takeoff parameter setup","19":"Home point setup","20":"Triggering wayline execution","21":"Wayline execution in progress","22":"Return to home","23":"Drone landing at dock","24":"Post-landing cover closure","29":"Retrieving media file count","46":"Uploading images","47":"Mission completed","0xFFFD":"Waiting for service response after completion","0xFFFE":"No specific status","0xFFFFF":"UNKNOWN"}
»»percent	Progress value	int	{"max":"100","min":"0",}
result	Result	int	Return 0 for success, non-zero for failure (see error codes for failure reasons)

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"output": {
			"ext": {
				"current_waypoint_index": 3,
				"flight_id": "flight_id",
				"media_count": 6,
			},
			"progress": {
				"current_step": 19,
				"percent": 100
			},
			"status": "ok"
		},
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_progress"
}

Issue Task

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
flight_id	Plan ID	text
execute_time	Start execution time	int	{"length":13}	Task start execution time in milliseconds. Optional field. Required when task_type is 0 or 1, optional when it is 2.
task_type	Task type	enum_int	{"0":"Immediate task","1":"Scheduled task"}	Both immediate and scheduled tasks are executed at the specified execute_time. Conditional tasks support ready_conditions to specify when the task is ready. The task will be executed when conditions are met within a certain time frame. Immediate tasks have the highest media upload priority, while scheduled and conditional tasks have the same priority.
wayline_type	Wayline type	enum_int	{"0":"Standard waypoint wayline"}
file	Wayline file object	struct
»url	File URL	text
»fingerprint	File MD5 signature	text
rth_altitude	Return altitude	int	{"max":1500,"min":20,"unit_name":"meters / m"}
out_of_control_action	Remote control loss action	enum_int	{"0":"Return to home","1":"Hover","2":"Land"}	Action upon loss of control, currently fixed at 0 (return to home). Note: This value is not consistent with the definitions in the flight controller and nest; conversion will occur at the nest.
exit_wayline_when_rc_lost	Wayline loss of control action	enum_int	{"0":"Continue executing wayline task","1":"Exit wayline task and perform remote control loss action"}	Matches the behavior in the KMZ file.
wayline_precision_type	Wayline precision type	enum_int	{0:"GPS task"， 1： ”High-precision RTK task“}
barrier_switch_state	Obstacle avoidance switch	enum_int	{0：turn on OA， 1， turn off OA}
takeoff_altitude	Takeoff altitude	int
first_waypoint_speed	Speed to first waypoint	int
return_speed	Speed for return	int
media_upload_method	Media file upload method	enum_int	{0:upon landing， 1:during landing}
alternate_land_point	Alternate landing point	struct
longitude	Longitude	double
latitude	Latitude	double
safe_land_height	Safe landing height	float
is_configured	Is alternate landing point set	enum_int	{0:N not set，1：set}

Example:

{
  "timestamp" : "1715693761421",
  "data" : {
    "flight_id" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx", 
    "execute_time" : "1715693761357",
    "task_type" : 0,
    "wayline_type" : 0,
    "file" : {
      "url" : "http://139.9.78.181:9000/autel-store/20240514/7dc350b0-33dc-4795-aac6-b0b9c88384b8-181153706728624128.aut",
      "fingerprint" : "ebf5f3c1ee5228edd96943ade9dda33d"
    },
    "rth_altitude" : 100,
    "exit_wayline_when_rc_lost" : 0,
    "alternate_land_point" : {
      "longitude" : 114.2304316,
      "latitude" : 23.0358027,
      "safe_land_height" : 10,
      "is_configured" : 1
    },
    "wayline_precision_type" : 1,
    "takeoff_altitude" : 100,
    "first_waypoint_speed" : 10,
    "return_speed" : 10,
    "media_upload_method" : 0
  },
  "method" : "flighttask_prepare",
  "tid" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "bid" : "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
  "gateway" : "NM1923371013"
} 

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_prepare

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero means error

Example:

{
    "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "data": {
        "result": 0
    },
    "gateway": "NM1923371013",
    "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
    "timestamp": 1715693761468,
    "method": "flighttask_prepare"
}

Execute the task

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	Plan ID	text

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxx"
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_execute"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
result	Return code	int		Non-zero means error

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_execute"
}

One-Click Return to Home

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	Return Code	int		Non-zero represents an error
output	Output	struct
»status	Task Status	enum_string	{"canceled":"Canceled or Terminated", "failed":"Failed", "in_progress":"In Progress", "ok":"Success", "paused":"Paused", "rejected":"Rejected", "sent":"Dispatched", "timeout":"Timeout"}

Wayline Pause

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_pause

Data: null

Example:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_pause

Data:

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

Wayline Resume

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_recovery

Data: null

Example:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_recovery

Data:

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

Cancel Task

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
flight_ids	Plan ID	array	{"size": -, "item_type": text}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_ids": [
			"aaaaaaa",
			"bbbbbbb"
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123,
	"method": "flighttask_undo"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_undo

Data:

Column	Name	Type	constraint	Description
result	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": 1234567890123,
	"method": "flighttask_undo"
}

Cancel Return to Home

After returning to home, the drone will exit the wayline mode. At this point, if the return to home is canceled, the drone will hover.

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home_cancel

Data: null

Example:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home_cancel

Data:

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