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S3设备属性

<h1>设备属性列表</h1> <ul> <li>accessMode:</li> <li>r:属性只读</li> <li>rw:属性可读写 </li> </ul> <table> <thead> <tr> <th>字段名称</th> <th>数据类型</th> <th>单位</th> <th>最小值</th> <th>最大值</th> <th>步长</th> <th>访问模式</th> <th>描述</th> </tr> </thead> <tbody> <tr> <td>sn</td> <td>string</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>设备sn号</td> </tr> <tr> <td>satellites_visible</td> <td>int</td> <td>-</td> <td>0</td> <td>100</td> <td>1</td> <td>r</td> <td>搜星数量</td> </tr> <tr> <td>altitude</td> <td>float</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>高度</td> </tr> <tr> <td>battery_voltage</td> <td>int</td> <td>-</td> <td>0</td> <td>0</td> <td>1</td> <td>r</td> <td>电池电压</td> </tr> <tr> <td>satellites_visible</td> <td>int</td> <td>-</td> <td>0</td> <td>0</td> <td>1</td> <td>r</td> <td>电池电流</td> </tr> <tr> <td>battery_remaining</td> <td>int</td> <td>-</td> <td>0</td> <td>100</td> <td>1</td> <td>r</td> <td>电量</td> </tr> <tr> <td>longitude</td> <td>float</td> <td>-</td> <td>0°</td> <td>180°</td> <td>0.1</td> <td>r</td> <td>经度</td> </tr> <tr> <td>latitude</td> <td>float</td> <td>-</td> <td>0°</td> <td>90°</td> <td>0.1</td> <td>r</td> <td>纬度</td> </tr> <tr> <td>yaw</td> <td>double</td> <td>°</td> <td>-180</td> <td>360</td> <td>0.01</td> <td>r</td> <td>无人机yaw角度</td> </tr> <tr> <td>pitch</td> <td>double</td> <td>°</td> <td>-120</td> <td>30</td> <td>0.01</td> <td>r</td> <td>无人机Pitch角度</td> </tr> <tr> <td>roll</td> <td>double</td> <td>°</td> <td>-45</td> <td>45</td> <td>0.01</td> <td>r</td> <td>无人机Roll角度</td> </tr> <tr> <td>main_rpm</td> <td>int</td> <td>-</td> <td>0</td> <td>0</td> <td>1</td> <td>r</td> <td>主桨转速</td> </tr> <tr> <td>tail_rpm</td> <td>int</td> <td>-</td> <td>0</td> <td>0</td> <td>1</td> <td>r</td> <td>尾桨转速</td> </tr> <tr> <td>operator</td> <td>text</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>rw</td> <td>操作者</td> </tr> <tr> <td>gimbal_yaw</td> <td>double</td> <td>°</td> <td>-180</td> <td>360</td> <td>0.01</td> <td>r</td> <td>云台yaw角度</td> </tr> <tr> <td>gimbal_pitch</td> <td>double</td> <td>°</td> <td>-120</td> <td>30</td> <td>0.01</td> <td>r</td> <td>云台Pitch角度</td> </tr> <tr> <td>gimbal_roll</td> <td>double</td> <td>°</td> <td>-45</td> <td>45</td> <td>0.01</td> <td>r</td> <td>云台Roll角度</td> </tr> <tr> <td>armed</td> <td>bool</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>是否已解锁</td> </tr> <tr> <td>landed_state</td> <td>bool</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>是否正在飞行</td> </tr> <tr> <td>fly_time</td> <td>int</td> <td>ms</td> <td>0</td> <td>100000000</td> <td>1</td> <td>r</td> <td>飞行时长</td> </tr> <tr> <td>fly_distance</td> <td>double</td> <td>m</td> <td>0</td> <td>10000000</td> <td>0.001</td> <td>r</td> <td>飞行距离</td> </tr> <tr> <td>main_power</td> <td>float</td> <td>kW</td> <td>0</td> <td>1000</td> <td>0.1</td> <td>r</td> <td>主浆功率</td> </tr> <tr> <td>tail_power</td> <td>float</td> <td>kW</td> <td>0</td> <td>1000</td> <td>0.1</td> <td>r</td> <td>尾浆功率</td> </tr> <tr> <td>main_current</td> <td>float</td> <td>A</td> <td>0</td> <td>200</td> <td>0.1</td> <td>r</td> <td>主浆电流</td> </tr> <tr> <td>tail_current</td> <td>float</td> <td>A</td> <td>0</td> <td>200</td> <td>0.1</td> <td>r</td> <td>尾浆电流</td> </tr> <tr> <td>main_temp</td> <td>float</td> <td>°C</td> <td>-40</td> <td>100</td> <td>0.1</td> <td>r</td> <td>主浆温度</td> </tr> <tr> <td>tail_temp</td> <td>float</td> <td>°C</td> <td>-40</td> <td>100</td> <td>0.1</td> <td>r</td> <td>尾浆温度</td> </tr> <tr> <td>horizontal_speed</td> <td>float</td> <td>m/s</td> <td>0</td> <td>30</td> <td>0.1</td> <td>r</td> <td>水平速度</td> </tr> <tr> <td>vertical_speed</td> <td>float</td> <td>m/s</td> <td>0</td> <td>30</td> <td>0.1</td> <td>r</td> <td>垂直速度</td> </tr> <tr> <td>home_longitude</td> <td>float</td> <td></td> <td></td> <td></td> <td>0.0001</td> <td>rw</td> <td>Home 点的经度</td> </tr> <tr> <td>home_latitude</td> <td>float</td> <td></td> <td></td> <td></td> <td>0.0001</td> <td>rw</td> <td>Home 点的纬度</td> </tr> <tr> <td>flight_mode</td> <td>enum</td> <td></td> <td></td> <td></td> <td>0</td> <td>r</td> <td>飞行模式 参考以下表格</td> </tr> <tr> <td>hfov</td> <td>double</td> <td>°</td> <td>0</td> <td>180</td> <td>0.1</td> <td>r</td> <td>水平视场角</td> </tr> <tr> <td>vfov</td> <td>double</td> <td>°</td> <td>0</td> <td>180</td> <td>0.1</td> <td>r</td> <td>垂直视场角</td> </tr> <tr> <td>signalStrength</td> <td>int</td> <td>-</td> <td>0</td> <td>5</td> <td>1</td> <td>r</td> <td>信号强度</td> </tr> <tr> <td>zoomFactor</td> <td>float</td> <td>x</td> <td>2</td> <td>2000</td> <td>0.1</td> <td>rw</td> <td>变焦倍数</td> </tr> <tr> <td>videoSource</td> <td>enum</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>视频源类型(gimbal、fpv)</td> </tr> <tr> <td>lensType</td> <td>enum</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>镜头类型(广角、红外、变焦)等</td> </tr> <tr> <td>front_avoid_distance</td> <td>float</td> <td>m</td> <td>-1</td> <td>100</td> <td>0.01</td> <td>r</td> <td>前避障距离</td> </tr> <tr> <td>gimbal_mode</td> <td>enum</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>rw</td> <td>云台模式(自由、跟随)</td> </tr> <tr> <td>imu1_accel_norm</td> <td>float</td> <td>m/s²</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU1 加速度模值</td> </tr> <tr> <td>imu1_gyro_norm</td> <td>float</td> <td>rad/s</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU1 陀螺仪模值</td> </tr> <tr> <td>imu1_mag_norm</td> <td>float</td> <td>μT</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU1 磁力计模值</td> </tr> <tr> <td>imu2_accel_norm</td> <td>float</td> <td>m/s²</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU2 加速度模值</td> </tr> <tr> <td>imu2_gyro_norm</td> <td>float</td> <td>rad/s</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU2 陀螺仪模值</td> </tr> <tr> <td>imu2_mag_norm</td> <td>float</td> <td>μT</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU2 磁力计模值</td> </tr> <tr> <td>imu3_accel_norm</td> <td>float</td> <td>m/s²</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU3 加速度模值</td> </tr> <tr> <td>imu3_gyro_norm</td> <td>float</td> <td>rad/s</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU3 陀螺仪模值</td> </tr> <tr> <td>imu3_mag_norm</td> <td>float</td> <td>μT</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>IMU3 磁力计模值</td> </tr> <tr> <td>compass_variance</td> <td>float</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>磁罗盘方差</td> </tr> <tr> <td>ekf_variance</td> <td>float</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>EKF 方差</td> </tr> <tr> <td>vibration</td> <td>float</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>振动值</td> </tr> <tr> <td>---------------</td> <td>------------------</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>-------------</td> <td>------------------</td> </tr> <tr> <td>lost_action</td> <td>enum</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>rw</td> <td>失联行为(悬停、降落、返航)</td> </tr> <tr> <td>gohome_altitude</td> <td>int</td> <td>m</td> <td>0</td> <td>500</td> <td>1</td> <td>rw</td> <td>返航高度</td> </tr> <tr> <td>front_avoid_switch</td> <td>bool</td> <td>m</td> <td></td> <td></td> <td></td> <td>rw</td> <td>前避障开关</td> </tr> <tr> <td>---------------</td> <td>------------------</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>-------------</td> <td>------------------</td> </tr> <tr> <td>controlDelay</td> <td>int</td> <td>ms</td> <td>0</td> <td>10000</td> <td>1</td> <td>r</td> <td>控制延迟</td> </tr> <tr> <td>delayLimit</td> <td>int</td> <td>ms</td> <td>0</td> <td>3000</td> <td>1</td> <td>r</td> <td>当前延迟限制</td> </tr> <tr> <td>altitude</td> <td>double</td> <td>m</td> <td>-1000</td> <td>10000</td> <td>0.1</td> <td>r</td> <td>海拔</td> </tr> <tr> <td>controlTag</td> <td>text</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>rw</td> <td>控制标识</td> </tr> <tr> <td>laserLatitude</td> <td>double</td> <td>°</td> <td>-90</td> <td>90</td> <td>0</td> <td>r</td> <td>激光纬度</td> </tr> <tr> <td>laserLongitude</td> <td>double</td> <td>°</td> <td>-180</td> <td>180</td> <td>0</td> <td>r</td> <td>激光经度</td> </tr> <tr> <td>laserAltitude</td> <td>double</td> <td>m</td> <td>-10000</td> <td>10000</td> <td>0.01</td> <td>r</td> <td>激光高度</td> </tr> <tr> <td>laserDistance</td> <td>double</td> <td>m</td> <td>0</td> <td>10000</td> <td>0.01</td> <td>r</td> <td>激光距离</td> </tr> <tr> <td>gimbalType</td> <td>text</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>云台类型</td> </tr> <tr> <td>disconnectTime</td> <td>int</td> <td>s</td> <td>1</td> <td>1000000</td> <td>1</td> <td>rw</td> <td>平台断连触发失联时间</td> </tr> <tr> <td>videoList</td> <td>array</td> <td>-</td> <td>-</td> <td>-</td> <td>-</td> <td>r</td> <td>视频列表(结构化数据)</td> </tr> </tbody> </table> <p>以下是 <code>flight_mode</code> 枚举的详细定义说明:</p> <table> <thead> <tr> <th>枚举值Value)</th> <th>枚举名称 (Enum Name)</th> <th>描述 (Description)</th> </tr> </thead> <tbody> <tr> <td>0</td> <td>NotConnected</td> <td>飞行器未连接</td> </tr> <tr> <td>1</td> <td>Standby</td> <td>起飞准备完成</td> </tr> <tr> <td>2</td> <td>Manual</td> <td>手动飞行</td> </tr> <tr> <td>3</td> <td>AltitudeHold</td> <td>高度保持</td> </tr> <tr> <td>4</td> <td>PositionHold</td> <td>定点悬停</td> </tr> <tr> <td>5</td> <td>AutoMission</td> <td>航线飞行</td> </tr> <tr> <td>6</td> <td>RTL</td> <td>返航</td> </tr> <tr> <td>7</td> <td>Land</td> <td>降落</td> </tr> <tr> <td>8</td> <td>Unknown</td> <td>未知模式</td> </tr> </tbody> </table>

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