191 lines
6.4 KiB
Markdown
191 lines
6.4 KiB
Markdown
# M300，M350版本
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## psdk -> msdk 心跳
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### sample
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```json
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{"d":[101.41,0.0,30.308899902,119.93859993],"e":[0,0,0,0,4,15,1730951069]}
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```
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### 字段解析
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| 字段名 | 字段值介绍 | 字段类型 | 是否必填 |
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| --- | --------- | ------ | ---- |
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| d | 无人机当前坐标信息 | 数组 | 是 |
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| » | 海拔高度 | float | 是 |
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| » | 相对高度 | float | 是 |
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| » | 纬度 | double | 是 |
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| » | 经度 | double | 是 |
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| e | 无人机当前状态 | 数组 | 是 |
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| » | 指令类型 | int | 是 |
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| » | 无人机当前任务id | int | 是 |
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| » | 无人机当前任务状态 | int | 是 |
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| » | 无人机当前航点进度 | int | 是 |
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| » | 无人机rtk 状态 | int | 是 |
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| » | 无人机搜星数量 | int | 是 |
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| » | 无人机当前系统时间 | long | 是 |
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## msdk -> psdk 任务指令
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```json
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[
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{
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"absoluteHeight": 108.24,
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"actionList": [
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{
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"param": "{\"speed\":12}",
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"type": "speed"
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},
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{
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"param": "{\"aircraftHeading\":0.1}",
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"type": "heading"
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},
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{
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"param": "{\"gimbalPitchRotateAngle\":0.0,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-5.599999904632568,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
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"type": "angle"
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},
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{
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"param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
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"type": "zoomMultiple"
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},
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{
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"param": "{\"hoverTime\":1.0}",
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"type": "hover"
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},
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{
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"param": "{\"payloadPositionIndex\":0}",
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"type": "isPhoto"
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}
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],
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"droneLocationLat": 30.308944909,
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"droneLocationLng": 119.938599702,
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"flyHeight": 8.1,
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"index": 0,
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"isJumpFly": false,
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"is_add_point": false,
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"jumpHeight": 0,
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"noseDirection": 0,
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"pointId": -1
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},
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{
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"absoluteHeight": 108.29,
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"actionList": [
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{
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"param": "{\"speed\":12}",
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"type": "speed"
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},
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{
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"param": "{\"aircraftHeading\":0.0}",
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"type": "heading"
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},
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{
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"param": "{\"gimbalPitchRotateAngle\":-84.69999694824219,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-6.604998588562012,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
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"type": "angle"
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},
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{
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"param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
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"type": "zoomMultiple"
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},
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{
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"param": "{\"hoverTime\":1.0}",
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"type": "hover"
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},
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{
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"param": "{\"payloadPositionIndex\":0}",
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"type": "isPhoto"
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}
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],
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"droneLocationLat": 30.308980327,
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"droneLocationLng": 119.938601212,
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"flyHeight": 8.15,
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"index": 0,
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"isJumpFly": false,
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"is_add_point": false,
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"jumpHeight": 0,
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"noseDirection": 0,
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"pointId": -1
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},
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{
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"absoluteHeight": 108.3,
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"actionList": [
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{
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"param": "{\"speed\":12}",
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"type": "speed"
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},
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{
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"param": "{\"aircraftHeading\":0.0}",
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"type": "heading"
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},
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{
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"param": "{\"gimbalPitchRotateAngle\":-57.70000076293945,\"gimbalPitchRotateEnable\":true,\"gimbalRollRotateAngle\":0,\"gimbalRollRotateEnable\":false,\"gimbalRotateMode\":\"absoluteAngle\",\"gimbalRotateTime\":0,\"gimbalRotateTimeEnable\":false,\"gimbalYawRotateAngle\":-6.605701923370361,\"gimbalYawRotateEnable\":true,\"payloadPositionIndex\":0}",
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"type": "angle"
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},
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{
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"param": "{\"focalLength\":47,\"focalTimes\":2.0,\"payloadPositionIndex\":0,\"zoomType\":1}",
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"type": "zoomMultiple"
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},
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{
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"param": "{\"hoverTime\":1.0}",
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"type": "hover"
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},
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{
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"param": "{\"payloadPositionIndex\":0}",
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"type": "isPhoto"
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}
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],
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"droneLocationLat": 30.309235505,
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"droneLocationLng": 119.938600115,
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"flyHeight": 8.16,
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"index": 0,
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"isJumpFly": false,
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"is_add_point": false,
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"jumpHeight": 0,
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"noseDirection": 0,
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"pointId": -1
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}
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]
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```
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### 参数
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| 名称 | 类型 | 必选 | 约束 | 中文名 | 说明 |
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| ---------------- | -------- | ---- | ---- | ------ | ---- |
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| absoluteHeight | number | true | none | 海拔高度 | none |
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| actionList | [object] | true | none | 航点动作列表 | none |
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| » param | string | true | none | 航点动作参数 | none |
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| » type | string | true | none | 航点动作类型 | none |
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| droneLocationLat | number | true | none | 航点纬度 | none |
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| droneLocationLng | number | true | none | 航点经度 | none |
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| flyHeight | number | true | none | 相对高度 | none |
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| index | integer | true | none | 航点索引 | none |
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| isJumpFly | boolean | true | none | 是否为跳飞点 | none |
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| is_add_point | boolean | true | none | | none |
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| jumpHeight | integer | true | none | 跳飞高度 | none |
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| noseDirection | integer | true | none | | none |
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| pointId | integer | true | none | 航点ID | none |
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# M3T M30 版本
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## psdk -> msdk 心跳
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### sample
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```json
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{"d":[101.41,0.0,30.308899902,119.93859993],"e":[0,0,0,0,4,15,1730951069]}
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```
|
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### 字段解析
|
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| 字段名 | 字段值介绍 | 字段类型 | 是否必填 |
|
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| --- | --------- | ------ | ---- |
|
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| d | 无人机当前坐标信息 | 数组 | 是 |
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| » | 海拔高度 | float | 是 |
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| » | 相对高度 | float | 是 |
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| » | 纬度 | double | 是 |
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| » | 经度 | double | 是 |
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| e | 无人机当前状态 | 数组 | 是 |
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| » | 指令类型 | int | 是 |
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| » | 无人机当前任务id | int | 是 |
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| » | 无人机当前任务状态 | int | 是 |
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| » | 无人机当前航点进度 | int | 是 |
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| » | 无人机rtk 状态 | int | 是 |
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| » | 无人机搜星数量 | int | 是 |
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| » | 无人机当前系统时间 | long | 是 |
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