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>