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Autel Dragonfish Properties

Device Properties List​

  • pushMode:

    • 0:Device pushes data at regular intervals, device reports at 0.5HZ frequency (Topic:thing/product/{device_sn}/osd)
    • 1:Device pushes state data, device reports when state changes(Topic:thing/product/{device_sn}/state)
  • accessMode:

    • r:Read-only property
    • rw:Read-write property (Topic:thing/product/{gateway_sn}/property/set)
ColumnNameTypeconstraintDescriptionaccessModepushMode
payloadsPayload Statusarray{"size": -, "item_type": struct}r1
»payload_indexPayload IndextextPayload index, format: {type-subtype-gimbalindex}r1
»snPayload Serial Number (SN)textr1
mode_codeAircraft Statusenum_int{"0":"Standby","1":"Takeoff Preparation","2":"Takeoff Ready","3":"Manual Flight","4":"Auto Takeoff","5":"Waypoint Flight","6":"Panoramic Photography","7":"Intelligent Follow","8":"ADS-B Avoidance", "9":"Auto Return","10":"Auto Landing","11":"Forced Landing","12":"Three-Blade Landing","13":"Upgrading","14":"Disconnected","15":"APAS","16":"Virtual Joystick Mode", "17":"Rectangle","18":"Polygon","19":"Oblique Photography","20":"Reserved Field","21":"Precision Reshoot","22":"Time-lapse Photography","23":"Orbit","25":"Spiral","26":"Ultra HD", "27":"Intelligent Transmission Point Mode","28":"Infrared Tracking","29":"Intelligent Mission Strip Flight","30":"Intelligent Mission Polygon Terrain Following","31":"Intelligent Mission Single Object Orbit","32":"Panoramic Intelligent Detection","33":"Security Intelligent Detection", "34":"GPS Escape Mode","35":"Abnormal Mode Status, Currently Only Planner Process Crashed, Will Switch to This Mode","36":"Swarm Formation Mode","37":"Quick Mission", "38":"Modeling Loop Mode","39":"KML Route Mode","105":"Return First Step Brake","106":"Return Second Step Stable Hover","107":"Return Third Step Adjust Heading","108":"Return Fourth Step Adjust Return Altitude to Minimum Safe Altitude","109":"Start Return","110":"Return End","111":"Mission Flight ClimbRotate","112":"Mission Flight Acceleration","113":"Trajectory Following","114":"Fixed Wing Return","115":"Rotorcraft Return","116":"Mission Flight Built-in Return Complete","117":"Emergency Landing","121":"Altitude Recovery","122":"Alternate Landing","123":"Temporary Mission","125":"No GNSS Escape","126":"No GNSS Manual Control","127":"Visual Return","128":"No GNSS Tracking","129":"Visual Assisted Manual Control","130":"No GNSS Guidance","131":"Field Alternate Landing","132":"No GNSS Circling"}r0
distance_limit_statusAircraft Distance Limit Statusstructrw0
»stateDistance Limit Enabledenum_int{"0":"Not Set","1":"Set"}0
»distance_limitDistance Limitint{"max":"8000","min":"15","step":"1","unit_name":"meters / m"}0
»is_near_distance_limitNear Distance Limitenum_int{"0":"Not Near Distance Limit","1":"Near Distance Limit"}r0
camerasAircraft Camera Informationarray{"size": -, "item_type": struct}r0
»[array_item]Elements in arraystruct
»»payload_indexPayload Indextext68-0-0Payload index, camera enumeration value. Non-standard device_mode_key, format: {type-subtype-gimbalindex}, refer to product support pager0
»»camera_modeCamera Modeenum_int{"0":"Photo","1":"Video"}Camera moder0
»»zoom_factorZoom Factorfloat{"max":160,"min":1}r0
»»wide_factorWide Angle Zoom Factorfloat{"max":160,"min":1}r0
»»night_factorNight Vision Zoom Factorfloat{"max":160,"min":1}r0
»»ir_zoom_factorIR Zoom Factorfloat{"max":16,"min":1}r
»»photo_storage_settingsPhoto CapabilitiesString in array{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }
»»video_storage_settingsVideo CapabilitiesString in array{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }
»»video_encode_settingsVideo Encoding Capabilitiesint array{0:H.264 , 1:H.265}
»»video_format_settingsVideo Format Capabilitiesint array{0:MOV, 1:MP4, 2:TIFF}
»»zoom_fov_hZoom Horizontal FOVfloatUnit: degreesr0
»»zoom_fov_vZoom Vertical FOVfloatUnit: degreesr0
»»zoom_focal_lengthZoom Focal LengthfloatUnit: mmr0
»»wide_fov_hWide Angle Horizontal FOVfloatUnit: degreesr0
»»wide_fov_vWide Angle Vertical FOVfloatUnit: degreesr0
»»wide_focal_lengthWide Angle Focal LengthfloatUnit: mmr0
»»ir_fov_hIR Horizontal FOVfloatUnit: degreesr0
»»ir_fov_vIR Vertical FOVfloatUnit: degreesr0
»»ir_focal_lengthIR Focal LengthfloatUnit: mmr0
»»nightvision_fov_hNight Vision Horizontal FOVfloatUnit: degreesr0
»»nightvision_fov_vNight Vision Vertical FOVfloatUnit: degreesr0
»»nightvision_focal_lengthNight Vision Focal LengthfloatUnit: mmr0
horizontal_speedHorizontal Speedfloat{"unit_name":"meters per second / m/s"}r0
vertical_speedVertical Speedfloat{"unit_name":"meters per second / m/s"}r0
ground_speedGround Speedfloat{"unit_name":"meters per second / m/s"}r0
air_speedAir Speedfloat{"unit_name":"meters per second / m/s"}r0
longitudeCurrent Position Longitudefloatr0
latitudeCurrent Position Latitudefloatr0
heightAbsolute HeightfloatHeight relative to Earth ellipsoid, calculated as: height relative to takeoff point + ellipsoid height of takeoff pointr0
elevationHeight Relative to Takeoff Pointfloatr0
attitude_pitchPitch Anglefloatr0
attitude_rollRoll Anglefloatr0
attitude_headYaw AngleintYaw angle relative to true north (meridian), positive values from 0 to 6 o'clock direction, negative values from 6 to 12 o'clock directionr0
home_distanceDistance from Home Pointfloatr0
wind_speedWind Speedfloat{"unit_name":"0.1 meters per second / m/s"}Wind speed estimation, derived from aircraft attitude, has certain errors, for reference only, cannot be used as meteorological datar0
wind_speed_validWind Speed Validityint{0:Invalid, 1:Valid}r0
wind_directionCurrent Wind Directionenum_int{"1":"North","2":"Northeast","3":"East","4":"Southeast","5":"South","6":"Southwest","7":"West","8":"Northwest"}r0
wind_direction_validWind Direction Validityint{0:Invalid, 1:Valid}r0
batteryAircraft Battery Informationstructr0
»capacity_percentTotal Battery Remaining Capacityint{"max":100,"min":0}r0
»remain_flight_timeRemaining Flight TimeintUnit: secondsr0
»self_discharge_timeSelf-Discharge Timeint{"unit_name":"days / day"}Unified self-discharge time setting for the whole battery packrw0
»batteriesMultiple Battery Listarrayr0
»»snSNtextr0
»»capacity_percentbatteryPercentageint{"max":100,"min":0}r0
»»temperaturetemperaturefloat{"unit_name":"celsius / °C"}r0
»»voltagevoltagefloat{"unit_name":"millivolt / mV"}r0
»»loop_timesBattery Cycle CountintBattery discharge countr0
»»cell_volCell Voltagearray_int{"unit_name":"millivolt / mV"}List of voltages for each cell in a single battery packr0
»»versionVersionstringr0
position_stateSatellite Search Statusstructr0
»coordinate_sysRTK Coordinate SystemInt{0: WGS84, 1: RTK Mobile Station}r0
»fix_staFix StatusInt{0: Not Fixed, 1: Fixed}
»is_fixedConvergence Statusenum_int{"0":"Not Started","1":"Converging","2":"Converged Successfully","3":"Convergence Failed"}r0
»qualitySatellite Quality Levelenum_int{"1":"Level 1","2":"Level 2","3":"Level 3","4":"Level 4","5":"Level 5"}r0
»rtk_inposRTK Module Position Statusint{0:Not in position, 1:In position}r0
»rtk_usedRTK Positioning UsageInt{0:Not in use, 1:In use}r0
»rtk_hgtRTK HeightDoubler0
»rtk_latRTK LatitudeDoubler0
»rtk_lonRTK LongitudeDoubler0
»gps_numberGPS Satellite Countintr0
»rtk_numberRTK Satellite Countintr0
{type-subtype-gimbalindex}Payload Indexstruct{{type-subtype-gimbalindex}_cBGPzxWKRQ}r0
»gimbal_pitchGimbal Pitch Angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»gimbal_rollGimbal Roll Angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»gimbal_yawGimbal Yaw Angledouble{"max":"180","min":"-180","step":0.1,"unit_name":"degrees / °"}r0
»payload_indexPayload index, format: {type-subtype-gimbalindex}textr1
»zoom_factorZoom Factordoubler0
»thermal_current_palette_styleThermal Palette Styleenum_int{0:White hot, 1:Cold hot, 2:Rainbow, 3:Enhanced rainbow,4:Iron red,5:Lava,6:Aurora,7:Scorching, 8:Gradient,9:Thermal detection, (GaoDe IR)30:White hot,31:Black hot,32:Rainbow1,33:Rainbow2,34:Iron red,35:Lava,36:Arctic,38:Medical,39:Red tracing}IR camera provides multiple color styles, users can choose different colors according to different scenarios for clearer target viewingrw0
»thermal_supported_palette_stylesDevice Supported Palette Stylesarray{"item":{"specs":{0:White hot, 1:Cold hot, 2:Rainbow, 3:Enhanced rainbow,4:Iron red,5:Lava,6:Aurora,7:Scorching, 8:Gradient,9:Thermal detection, (GaoDe IR)30:White hot,31:Black hot,32:Rainbow1,33:Rainbow2,34:Iron red,35:Lava,36:Arctic,38:Medical,39:Red tracing},"type":"enum_int"}}Different devices support different style capabilitiesr0
»object_distance_support_listDevice Supported MF Capabilitiesarray structr0
»»lens_typeLens Typeenum_int{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }r0
»»min_valueMinimum Valueintr0
»»max_valueMaximum Valueintr0
»»stepStepintr0
»iso_support_listDevice Supported ISO Capabilitiesarray structr0
»»lens_typeLens Typeenum_int{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }r0
»»iso_valuesDevice Supported ISO Valuesint_arrayr0
»shutter_speed_support_listDevice Supported Shutter Speed Capabilitiesarray structr0
»»lens_typeLens Typeenum_int{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }r0
»»shutter_speed_valuesSpeed Valuesstructr0
»»»numeratorNumeratorintr0
»»»denominatorDenominatorintr0
»white_balance_support_listDevice Supported White Balance Capabilitiesarray structr0
»»lens_typeLens Typeenum_int{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }r0
»»min_valueMinimum Valueintr0
»»max_valueMaximum Valueintr0
»»stepStepintr0
»thermal_image_settingImage Settingsstructr0
»»thermal_image_enhanceImage Enhancementstructrw0
»»»enableImage Enhancement Switchenum_int0:Off 1:Onr0
»»»valueImage Enhancement Valueint{"max":"1","min":"10"}r0
»»thermal_image_modeImage Modestructrw0
»»»modeImage Modeenum_int0:Auto 1:Manualr0
»»»brightnessBrightnessint{"max":"80","min":"170"}Camera capability set value ranger0
»»»contrastContrastint{"max":"5","min":"50"}r0
»thermal_photo_settingPhoto Settingsstructrw0
»»formatFormatenum_intOptional values: 0:JPGr0
»»sizeSizestringOptional values: "640x512"Camera capability set frame rate ranger0
»thermal_video_settingVideo Settingsstructrw0
»»frame_rateFrame RateintOptional values: 25r0
»»resolutionResolutionstringOptional values: "640x512"r0
»thermal_thermometryTemperature Measurement Settingsstructrw0
»»emissivityEmissivity %intPercentage value 2%->2 ,{"max":"1","min":"100"}r0
»»thermal_isothermIsotherm Settingsstructr0
»»»typeIsotherm Typeenum_int0:Off 1:Search person 2:Search fire 3:Customr0
»»»highHigh Temperature Valueint{"max":"0","min":"400"}r0
»»»lowLow Temperature Valueint{"max":"0","min":"400"}r0
activation_timeAircraft Activation Time (Unix Timestamp)int{"unit_name":"seconds / s"}r0
night_lights_stateAircraft Night Light Statusenum_int{"0":"Off","1":"On"}rw0
height_limitAircraft Height Limitint{"max":"1500","min":"20","step":"1","unit_name":"meters / m"}rw0
is_near_height_limitNear Height Limitenum_int{"0":"Not reached set height limit","1":"Approaching set height limit"}r0
is_near_area_limitNear No-Fly Zoneenum_int{"0":"Not reached no-fly zone","1":"Approaching no-fly zone"}r0
obstacle_avoidanceAircraft Obstacle Avoidance Statusstructrw0
»horizonHorizontal Obstacle Avoidance Statusenum_int{"0":"Off","1":"On"}Note: Currently UAVs have unified obstacle avoidance, no distinction0
»upsideUpward Obstacle Avoidance Statusenum_int{"0":"Off","1":"On"}Note: Currently UAVs have unified obstacle avoidance, no distinction0
»downsideDownward Obstacle Avoidance Statusenum_int{"0":"Off","1":"On"}Note: Currently UAVs have unified obstacle avoidance, no distinction0
obstacle_infoCurrent Obstacle InformationstructFixed-wing obstacle avoidance informationr
»timestampTimestamplongUnit: microseconds
»distance_listDistance to Obstaclesarray_intUnit: decimeters. Respectively corresponding to directions: 1:Forward; 2:Downward
»source_listObstacle Information Sourcearray_intRespectively corresponding to obstacle distances. 1:Radar; 2:Terrain data; 3:Vision
»maneuverAvoidance Maneuverenum_int0:No avoidance action; 1:Climb avoidance; 2:Decelerate climb; 3:Emergency spiral climb; 4:Decelerate avoidance
total_flight_timeTotal Flight TimeIntUnit: secondsr0
submodule_time_usedSubmodule Flight Timearrayr0
»submoduleSubmodule Nameenum_int{ 1:Left wing 2:Right wing 3:Tail wing}r0
»time_usedTime UsedIntUnit: secondsr0
total_armed_timeCurrent Armed Total Flight TimeIntUnit: secondsr0
total_armed_distanceCurrent Armed Total Flight DistanceIntUnit: mr0
fly_turnsFlight SortiesIntr0
fly_stateFlight Statusint0:Aircraft on ground 1:Aircraft in airr0
alarm_statusAlarm StatusInt{0:No alarm 1:Has alarm}0
pos_typeRTK StatusInt{0:No solution, 1:Position specified by FIX POSITION command, 2:Not supported 8:Doppler information export,16:Single point positioning 17:Pseudorange differential solution 18:SBAS positioning 32:L1 float solution 33:Ionosphere-free float solution 34:Narrow lane float solution 48:L1 fixed solution 49:Wide lane fixed solution 50:Narrow lane fixed solution 52:Pure inertial navigation positioning solution 53:Inertial navigation and single point combination solution 54:Inertial navigation and pseudorange differential positioning combination solution 55:Inertial navigation and carrier phase differential float solution combination solution 56:Inertial navigation and carrier phase differential fixed solution combination solution}0
wireless_linkLink Statusstructr0
»fourth_generation_uavQuality4G Signal StrengthIntr0
payload_IndexGimbal Payloadstructr0
»gimbal_pitchGimbal Pitch Angledouble0
»gimbal_rollGimbal Roll Angledouble0
»gimbal_yawGimbal Yaw Angledouble0
»payload_indexPayload IDtext0
»zoom_factorZoom FactorInt0
lte_card_is_detectedSIM Card Detectedint{0:No card inserted, 1:Card inserted}
lte_signal4G Signalint{0,100}
lte_status4G Card Statusint{0:LTE module not supported,1:Off state 2:Not connected state 3:Connected, but network unreachable, 4:Connected}
remote_id_statusRemote ID Working Statusint{0:Off 1:On 2:Self-check abnormal}
control_sourceCurrent Control Sourcetext
commander_mode_lost_actionPoint Flight Lost Control Actionenum_int{"0":"Continue executing point flight task","1":"Exit point flight task, execute normal lost control behavior"}
camera_settingsGeneral Camera Settingsstructrw0
»camera_lens_typeCamera Lens TypeString in array{“zoom”:Zoom, “wide”:Wide Angle, “ir”:Infrared,“NightVision”: Night Vision }rw0
»video_encode_typeVideo Encoding Typeenum_int0:H.264 , 1:H.265rw0
»video_format_typeVideo Format Typeenum_int0:mov , 1:mp4, 2:TIFFrw0
»vedio_subtitle_enableVideo Subtitle Switchint{0:Off,1:On}rw0
defog_enableDefog Switchenum_int{0:Off , 1:Weak level on , 2:Medium level on , 3:Strong level on}rw0
camera_exposureCamera Brightness PercentageintValue range 0~100rw0
camera_ultra_pixel_enableUltra Light Sensitivity Switchint{0:Off,1:On}rw0
camera_focus_modeAF/MF Modeint{1:Auto,2:Manual}rw0
camera_object_distanceCurrent Object DistanceintCan use capability set corresponding lens value range settings in MF moderw0
camera_iso_modeISO Modeint{0:Auto,1:Manual}rw0
camera_image_isoCurrent ISO ValueintCan use capability set corresponding lens value range settings in manual moderw0
camera_shutter_modeShutter Modeint{0:Auto,1:Manual}rw0
camera_shutter_speedShutter SpeedstructValue consists of numerator and denominator, individual setting is invalidCan use capability set corresponding lens value range settings in manual moderw0
»numeratorNumeratorintNumerator component of shutter speed fractionrw0
»denominatorDenominatorintDenominator component of shutter speed fractionrw0
camera_white_balanceWhite Balance Modeint{0:Auto,1:Daylight,2:Cloudy,3:Incandescent,4:Fluorescent,5:Custom}rw0
camera_white_balance_color_tempWhite Balance Color TemperatureintWhen mode is custom, can use capability set corresponding lens value range settings.rw0
sdcard_storageTF Card Storagestruct
»storage_typeStorage Typeint0:SD card,1:Flash memory
»usedStorage Capacitystructkbr0
»totalTotal Capacityintr0
»current_usedCurrent Storage Locationint0: No 1: Yesr0
storageOnboard Storagestructr0
»storage_typeStorage Typeint0:SD card,1:Flash memoryr0
»usedStorage Capacitystructkbr0
»totalTotal Capacityintr0
»current_usedCurrent Storage Locationint0: No 1: Yesr0
track_typeTracking Typeint1: Simple tracking, 2: Synchronous tracking, 3: Circular tracking, 4: Figure-8 trackingr0
track_radiusTracking RadiusintUnit: metersrw0
surround_orientationSurround Directionint0: Auto, -1: Clockwise, 1: Counterclockwiserw0
reference_point_distanceReference Point DistanceintUnit: metersrw0
track_angle_typeAngle Typeint1: Absolute angle, 2: Relative anglerw0
reference_point_angleReference Point Absolute Angleintmin:-180 max:180rw0
temp_poi_enablePOI Task Statusint0:Not Executed,1:Executingr0
flight_stateWing Stateenum_int-1:unknow,0:groud,1:rotor_state,2:rotor_to_fixd_state,3:fixd_to_rotor_state,4:fixd_wing_state4 is fixed-wing state, others are non-fixed-wingr0
min_radiusMinimum Turn Radiusint{"unit_name":"meters / m"}Minimum turn radius during fixed-wing flightrw0
security_heightSafety HeightintUnit: metersrw1
serious_low_battery_warning_thresholdSerious Low Battery WarningintUser-set battery serious low battery warning percentagerw1
low_battery_warning_thresholdLow Battery SettingintUser-set battery low battery return percentagerw1
low_battery_warning_enableSmart Low Battery Return Switchint0:Off 1:OnUser setting for enabling smart low battery returnrw1
adsb_reportADS-B Report Datastructr0
»icao_addressICAO Addressintr0
»callsignCallsignStringr0
»latitudeLatitudeDoubler0
»longitudeLongitudeDoubler0
»altitudeAltitudeDoubler0
»headingHeadingDoubler0
»hor_velocityHorizontal VelocityDoubler0
»ver_velocityVertical VelocityDoubler0
»altitude_typeAltitude Typeenum_int0:Barometric source reported altitude 1:Geometric altituder0
»emitter_typeEmitter Typeenum_int0:No information,1:Light aircraft,2:Small aircraft,3:Large aircraft,4:High vortex large aircraft,5:Heavy aircraft,6:Highly maneuverable aircraft,7:Rotorcraft,8:Unassigned,9:Glider,10:Light airship,11:Parachute,12:Ultralight aircraft,13:Unassigned,14:UAV,15:Spacecraft,16:Unassigned,17:Emergency surface vehicle,18:Service surface vehicle,19:Point obstacler0
»tslcr0
»flagsFlagsenum_int0:Invalid,1:Valid coordinates,2:Valid altitude,4:Valid heading,8:Valid velocity,16:Valid callsign,32:Valid transponder code,64:Simulated data,128:Valid vertical velocity,256:Barometric altitude valid,32768:Source is UATr0
»flags_valueFlags (Fixed-wing)enum_int& 0x03 < 3:Bitwise AND with hexadecimal 0x03, keep the lowest 2 bits, then check if the result is less than 3, less than 3 is invalid, otherwise validr0
»squawkr0
takeoff_landing_statusDragon Fish Takeoff/Landing Statusenum_string{"taking_off":"Taking Off","landing":"Landing","other":"Other",}r0
lidar_project_statusLiDAR Project Statusenum_int{"0":"Off","1":"On"}LiDAR-specific fieldr0

Payload Report​

Topic: thing/product/{device_sn}/state

Direction: up

Direction: Upstream (Device -> Cloud)

Data:

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

Example:

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