knowledge_map/工作/艾航/星基/星基接口文档.md

M300，M350版本

psdk -> msdk 心跳

sample

{"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

[
  {
    "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

{"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