# M300，M350版本
## psdk -> msdk 心跳
### sample

```json
{"d":[101.41,0.0,30.308899902,119.93859993],"e":[0,0,0,0,4,15,1730951069]}
```
### 字段解析

| 字段名 | 字段值介绍     | 字段类型   | 是否必填 |
| --- | --------- | ------ | ---- |
| d   | 无人机当前坐标信息 | 数组     | 是    |
| »   | 海拔高度      | float  | 是    |
| »   | 相对高度      | float  | 是    |
| »   | 纬度        | double | 是    |
| »   | 经度        | double | 是    |
| e   | 无人机当前状态   | 数组     | 是    |
| »   | 指令类型      | int    | 是    |
| »   | 无人机当前任务id | int    | 是    |
| »   | 无人机当前任务状态 | int    | 是    |
| »   | 无人机当前航点进度 | int    | 是    |
| »   | 无人机rtk 状态 | int    | 是    |
| »   | 无人机搜星数量   | int    | 是    |
| »   | 无人机当前系统时间 | long   | 是    |

## msdk -> psdk 任务指令

```json
[
  {
    "absoluteHeight": 108.24,
    "actionList": [
      {
        "param": "{\"speed\":12}",
        "type": "speed"
      },
      {
        "param": "{\"aircraftHeading\":0.1}",
        "type": "heading"
      },
      {
        "param": "{\"gimbalPitchRotateAngle\":0.0,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-5.599999904632568,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
        "type": "angle"
      },
      {
        "param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
        "type": "zoomMultiple"
      },
      {
        "param": "{\"hoverTime\":1.0}",
        "type": "hover"
      },
      {
        "param": "{\"payloadPositionIndex\":0}",
        "type": "isPhoto"
      }
    ],
    "droneLocationLat": 30.308944909,
    "droneLocationLng": 119.938599702,
    "flyHeight": 8.1,
    "index": 0,
    "isJumpFly": false,
    "is_add_point": false,
    "jumpHeight": 0,
    "noseDirection": 0,
    "pointId": -1
  },
  {
    "absoluteHeight": 108.29,
    "actionList": [
      {
        "param": "{\"speed\":12}",
        "type": "speed"
      },
      {
        "param": "{\"aircraftHeading\":0.0}",
        "type": "heading"
      },
      {
        "param": "{\"gimbalPitchRotateAngle\":-84.69999694824219,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-6.604998588562012,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
        "type": "angle"
      },
      {
        "param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
        "type": "zoomMultiple"
      },
      {
        "param": "{\"hoverTime\":1.0}",
        "type": "hover"
      },
      {
        "param": "{\"payloadPositionIndex\":0}",
        "type": "isPhoto"
      }
    ],
    "droneLocationLat": 30.308980327,
    "droneLocationLng": 119.938601212,
    "flyHeight": 8.15,
    "index": 0,
    "isJumpFly": false,
    "is_add_point": false,
    "jumpHeight": 0,
    "noseDirection": 0,
    "pointId": -1
  },
  {
    "absoluteHeight": 108.3,
    "actionList": [
      {
        "param": "{\"speed\":12}",
        "type": "speed"
      },
      {
        "param": "{\"aircraftHeading\":0.0}",
        "type": "heading"
      },
      {
        "param": "{\"gimbalPitchRotateAngle\":-57.70000076293945,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-6.605701923370361,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
        "type": "angle"
      },
      {
        "param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
        "type": "zoomMultiple"
      },
      {
        "param": "{\"hoverTime\":1.0}",
        "type": "hover"
      },
      {
        "param": "{\"payloadPositionIndex\":0}",
        "type": "isPhoto"
      }
    ],
    "droneLocationLat": 30.309235505,
    "droneLocationLng": 119.938600115,
    "flyHeight": 8.16,
    "index": 0,
    "isJumpFly": false,
    "is_add_point": false,
    "jumpHeight": 0,
    "noseDirection": 0,
    "pointId": -1
  }
]


```
### 参数

| 名称               | 类型       | 必选   | 约束   | 中文名    | 说明   |
| ---------------- | -------- | ---- | ---- | ------ | ---- |
| absoluteHeight   | number   | true | none | 海拔高度   | none |
| actionList       | [object] | true | none | 航点动作列表 | none |
| » param          | string   | true | none | 航点动作参数 | none |
| » type           | string   | true | none | 航点动作类型 | none |
| droneLocationLat | number   | true | none | 航点纬度   | none |
| droneLocationLng | number   | true | none | 航点经度   | none |
| flyHeight        | number   | true | none | 相对高度   | none |
| index            | integer  | true | none | 航点索引   | none |
| isJumpFly        | boolean  | true | none | 是否为跳飞点 | none |
| is_add_point     | boolean  | true | none |        | none |
| jumpHeight       | integer  | true | none | 跳飞高度   | none |
| noseDirection    | integer  | true | none |        | none |
| pointId          | integer  | true | none | 航点ID   | none |

# M3T M30 版本

## psdk -> msdk 心跳
### sample

```json
{"d":[101.41,0.0,30.308899902,119.93859993],"e":[0,0,0,0,4,15,1730951069]}
```
### 字段解析

| 字段名 | 字段值介绍     | 字段类型   | 是否必填 |
| --- | --------- | ------ | ---- |
| d   | 无人机当前坐标信息 | 数组     | 是    |
| »   | 海拔高度      | float  | 是    |
| »   | 相对高度      | float  | 是    |
| »   | 纬度        | double | 是    |
| »   | 经度        | double | 是    |
| e   | 无人机当前状态   | 数组     | 是    |
| »   | 指令类型      | int    | 是    |
| »   | 无人机当前任务id | int    | 是    |
| »   | 无人机当前任务状态 | int    | 是    |
| »   | 无人机当前航点进度 | int    | 是    |
| »   | 无人机rtk 状态 | int    | 是    |
| »   | 无人机搜星数量   | int    | 是    |
| »   | 无人机当前系统时间 | long   | 是    |