蜂群属性上报
<h1>蜂群属性上报内容表格</h1>
<h2>完整JSON示例</h2>
<pre><code class="language-json">{
&quot;bid&quot;: &quot;1761009108260-3461&quot;,
&quot;data&quot;: {
&quot;properties&quot;: {
&quot;overallStatus&quot;: {
&quot;health_status&quot;: 0,
&quot;control_object_type&quot;: 2,
&quot;selected_uav_id&quot;: 1,
&quot;selected_team_id&quot;: 1,
&quot;pod_switching_type&quot;: 0,
&quot;selected_pod_id&quot;: 1
},
&quot;teams&quot;: [
{
&quot;formation&quot;: 0,
&quot;members&quot;: [2, 3, 1],
&quot;space&quot;: 0,
&quot;team_id&quot;: 1
}
],
&quot;uavs&quot;: [
{
&quot;sn&quot;: &quot;2&quot;,
&quot;latitude&quot;: 22.4115285,
&quot;longitude&quot;: 113.5616545,
&quot;asl&quot;: 0.07000000029802322,
&quot;alt&quot;: 0.0,
&quot;team_id&quot;: 1,
&quot;flight_mode&quot;: 81,
&quot;is_leader&quot;: 0,
&quot;horizontal_speed&quot;: 0.0,
&quot;vertical_speed&quot;: 0.0,
&quot;battery_remaining&quot;: 0,
&quot;battery_voltage&quot;: 0.0,
&quot;satellites_visible&quot;: 0,
&quot;hposerr&quot;: 0.0,
&quot;vposerr&quot;: 0.0,
&quot;signal_strength&quot;: 0,
&quot;rtk&quot;: 0,
&quot;attitude_control_healthy&quot;: 1,
&quot;home_latitude&quot;: 0.0,
&quot;home_longitude&quot;: 0.0,
&quot;armed&quot;: false,
&quot;landed_state&quot;: false,
&quot;is_online&quot;: 1,
&quot;attack_mode&quot;: 1,
&quot;attack_after_behavior&quot;: 6,
&quot;lost_return&quot;: 1,
&quot;low_battery_behavior&quot;: 1,
&quot;has_base_info&quot;: true,
&quot;has_status_info&quot;: true
},
{
&quot;sn&quot;: &quot;3&quot;,
&quot;latitude&quot;: 22.4115286,
&quot;longitude&quot;: 113.5616934,
&quot;asl&quot;: 0.07000000029802322,
&quot;alt&quot;: 0.0,
&quot;team_id&quot;: 1,
&quot;flight_mode&quot;: 81,
&quot;is_leader&quot;: 0,
&quot;horizontal_speed&quot;: 0.0,
&quot;vertical_speed&quot;: 0.0,
&quot;battery_remaining&quot;: 0,
&quot;battery_voltage&quot;: 0.0,
&quot;satellites_visible&quot;: 0,
&quot;hposerr&quot;: 0.0,
&quot;vposerr&quot;: 0.0,
&quot;signal_strength&quot;: 0,
&quot;rtk&quot;: 0,
&quot;attitude_control_healthy&quot;: 1,
&quot;home_latitude&quot;: 0.0,
&quot;home_longitude&quot;: 0.0,
&quot;armed&quot;: false,
&quot;landed_state&quot;: false,
&quot;is_online&quot;: 1,
&quot;attack_mode&quot;: 1,
&quot;attack_after_behavior&quot;: 6,
&quot;lost_return&quot;: 1,
&quot;low_battery_behavior&quot;: 1,
&quot;has_base_info&quot;: true,
&quot;has_status_info&quot;: true
},
{
&quot;sn&quot;: &quot;1&quot;,
&quot;latitude&quot;: 22.4115285,
&quot;longitude&quot;: 113.5616156,
&quot;asl&quot;: 0.07000000029802322,
&quot;alt&quot;: 0.0,
&quot;team_id&quot;: 1,
&quot;flight_mode&quot;: 81,
&quot;is_leader&quot;: 0,
&quot;horizontal_speed&quot;: 0.0,
&quot;vertical_speed&quot;: 0.0,
&quot;battery_remaining&quot;: 0,
&quot;battery_voltage&quot;: 0.0,
&quot;satellites_visible&quot;: 0,
&quot;hposerr&quot;: 0.0,
&quot;vposerr&quot;: 0.0,
&quot;signal_strength&quot;: 0,
&quot;rtk&quot;: 0,
&quot;attitude_control_healthy&quot;: 1,
&quot;home_latitude&quot;: 0.0,
&quot;home_longitude&quot;: 0.0,
&quot;armed&quot;: false,
&quot;landed_state&quot;: false,
&quot;is_online&quot;: 1,
&quot;attack_mode&quot;: 1,
&quot;attack_after_behavior&quot;: 6,
&quot;lost_return&quot;: 1,
&quot;low_battery_behavior&quot;: 1,
&quot;has_base_info&quot;: true,
&quot;has_status_info&quot;: true
}
]
}
},
&quot;method&quot;: &quot;reportProperties&quot;,
&quot;tid&quot;: &quot;1761009108260-9519&quot;,
&quot;timestamp&quot;: 1761009108260
}</code></pre>
<h2>整体状态 (properties.overallStatus)</h2>
<table>
<thead>
<tr>
<th>字段名</th>
<th>类型</th>
<th>描述</th>
<th>示例值</th>
</tr>
</thead>
<tbody>
<tr>
<td>health_status</td>
<td>int</td>
<td>健康状态 (0=健康, 1=异常)</td>
<td>0</td>
</tr>
<tr>
<td>control_object_type</td>
<td>int</td>
<td>控制对象类型 (0=单控, 1=多控, 2=组控)</td>
<td>2</td>
</tr>
<tr>
<td>selected_uav_id</td>
<td>int</td>
<td>选中无人机ID</td>
<td>1</td>
</tr>
<tr>
<td>selected_team_id</td>
<td>int</td>
<td>选中队伍ID</td>
<td>1</td>
</tr>
<tr>
<td>pod_switching_type</td>
<td>int</td>
<td>吊舱切换类型 (0=手动, 1=自动)</td>
<td>0</td>
</tr>
<tr>
<td>selected_pod_id</td>
<td>int</td>
<td>选中吊舱ID</td>
<td>1</td>
</tr>
</tbody>
</table>
<h2>队伍信息 (properties.teams)</h2>
<table>
<thead>
<tr>
<th>字段名</th>
<th>类型</th>
<th>描述</th>
<th>示例值</th>
</tr>
</thead>
<tbody>
<tr>
<td>team_id</td>
<td>int</td>
<td>队伍ID</td>
<td>0为没编队,不为0即已设置编队</td>
</tr>
<tr>
<td>formation</td>
<td>int</td>
<td>队形模式 (0-8)</td>
<td>0</td>
</tr>
<tr>
<td>space</td>
<td>int</td>
<td>编队间距(米)</td>
<td>0</td>
</tr>
<tr>
<td>members</td>
<td>array[int]</td>
<td>队伍成员ID列表</td>
<td>[2, 3, 1]</td>
</tr>
</tbody>
</table>
<h2>无人机信息 (properties.uavs[])</h2>
<table>
<thead>
<tr>
<th>字段名</th>
<th>类型</th>
<th>描述</th>
<th>示例值</th>
</tr>
</thead>
<tbody>
<tr>
<td>sn</td>
<td>string</td>
<td>飞机序列号</td>
<td>"1"</td>
</tr>
<tr>
<td>latitude</td>
<td>double</td>
<td>纬度</td>
<td>22.4115285</td>
</tr>
<tr>
<td>longitude</td>
<td>double</td>
<td>经度</td>
<td>113.5616156</td>
</tr>
<tr>
<td>asl</td>
<td>double</td>
<td>海拔高度(米)</td>
<td>0.07</td>
</tr>
<tr>
<td>alt</td>
<td>double</td>
<td>相对高度(米)</td>
<td>0.0</td>
</tr>
<tr>
<td>team_id</td>
<td>int</td>
<td>所属队伍ID</td>
<td>1</td>
</tr>
<tr>
<td>flight_mode</td>
<td>int</td>
<td>飞行模式</td>
<td>81</td>
</tr>
<tr>
<td>is_leader</td>
<td>int</td>
<td>是否队长 (0/1)</td>
<td>0</td>
</tr>
<tr>
<td>horizontal_speed</td>
<td>float</td>
<td>水平速度(m/s)</td>
<td>0.0</td>
</tr>
<tr>
<td>vertical_speed</td>
<td>float</td>
<td>垂直速度(m/s)</td>
<td>0.0</td>
</tr>
<tr>
<td>battery_remaining</td>
<td>int</td>
<td>电池剩余百分比</td>
<td>0</td>
</tr>
<tr>
<td>battery_voltage</td>
<td>float</td>
<td>电池电压(V)</td>
<td>0.0</td>
</tr>
<tr>
<td>satellites_visible</td>
<td>int</td>
<td>GPS卫星数</td>
<td>0</td>
</tr>
<tr>
<td>hposerr</td>
<td>float</td>
<td>水平定位精度</td>
<td>0.0</td>
</tr>
<tr>
<td>vposerr</td>
<td>float</td>
<td>垂直定位精度</td>
<td>0.0</td>
</tr>
<tr>
<td>signal_strength</td>
<td>int</td>
<td>信号强度</td>
<td>0</td>
</tr>
<tr>
<td>rtk</td>
<td>int</td>
<td>是否RTK (0/1)</td>
<td>0</td>
</tr>
<tr>
<td>attitude_control_healthy</td>
<td>int</td>
<td>姿态控制健康 (0/1)</td>
<td>1</td>
</tr>
<tr>
<td>home_latitude</td>
<td>double</td>
<td>返航点纬度</td>
<td>0.0</td>
</tr>
<tr>
<td>home_longitude</td>
<td>double</td>
<td>返航点经度</td>
<td>0.0</td>
</tr>
<tr>
<td>armed</td>
<td>bool</td>
<td>是否已解锁</td>
<td>false</td>
</tr>
<tr>
<td>landed_state</td>
<td>bool</td>
<td>是否正在飞行</td>
<td>false</td>
</tr>
<tr>
<td>is_online</td>
<td>int</td>
<td>是否在线 (0/1)</td>
<td>1</td>
</tr>
<tr>
<td>attack_mode</td>
<td>int</td>
<td>攻击模式</td>
<td>1</td>
</tr>
<tr>
<td>attack_after_behavior</td>
<td>int</td>
<td>攻击后行为</td>
<td>6</td>
</tr>
<tr>
<td>lost_return</td>
<td>int</td>
<td>失连返航策略</td>
<td>1</td>
</tr>
<tr>
<td>low_battery_behavior</td>
<td>int</td>
<td>低电量动作</td>
<td>1</td>
</tr>
<tr>
<td>has_base_info</td>
<td>bool</td>
<td>是否有基础信息</td>
<td>true</td>
</tr>
<tr>
<td>has_status_info</td>
<td>bool</td>
<td>是否有状态信息</td>
<td>true</td>
</tr>
</tbody>
</table>
<h2>控制对象类型枚举值 (controlObjectType)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>类型名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>SINGLE</td>
<td>单控模式</td>
</tr>
<tr>
<td>1</td>
<td>BITMASK</td>
<td>多控模式</td>
</tr>
<tr>
<td>2</td>
<td>GROUP</td>
<td>组控模式</td>
</tr>
</tbody>
</table>
<h2>飞行模式枚举值 (mode)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>模式名称</th>
<th>描述</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（常用于部分手动模式）</td>
</tr>
<tr>
<td>4</td>
<td>PositionHold</td>
<td>定点悬停（Loiter）</td>
</tr>
<tr>
<td>5</td>
<td>AutoMission</td>
<td>航线飞行（自动任务）</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>RcFailsafe</td>
<td>失联</td>
</tr>
<tr>
<td>10</td>
<td>Stabilize</td>
<td>自稳模式</td>
</tr>
<tr>
<td>17</td>
<td>Brake</td>
<td>急停</td>
</tr>
<tr>
<td>60</td>
<td>Manual</td>
<td>手动飞行（扩展）</td>
</tr>
<tr>
<td>80</td>
<td>SwarmManual</td>
<td>集群手控</td>
</tr>
<tr>
<td>81</td>
<td>SwarmGuided</td>
<td>集群引导</td>
</tr>
<tr>
<td>82</td>
<td>SwarmAuto</td>
<td>集群自动航线</td>
</tr>
<tr>
<td>83</td>
<td>SwarmAttack</td>
<td>集群自动攻击</td>
</tr>
<tr>
<td>127</td>
<td>AvionicsOverhaul</td>
<td>检修模式，紫燕自定义模式</td>
</tr>
<tr>
<td>99</td>
<td>Unknown</td>
<td>未知模式（无法识别）</td>
</tr>
</tbody>
</table>
<h2>队形模式枚举值 (formation)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>队形名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>None</td>
<td>无编队</td>
</tr>
<tr>
<td>1</td>
<td>Line</td>
<td>横队</td>
</tr>
<tr>
<td>2</td>
<td>Column</td>
<td>列队</td>
</tr>
<tr>
<td>3</td>
<td>Surround</td>
<td>包围式</td>
</tr>
<tr>
<td>4</td>
<td>Square</td>
<td>方形</td>
</tr>
<tr>
<td>5</td>
<td>Triangle</td>
<td>三角形</td>
</tr>
<tr>
<td>6</td>
<td>InvertedV</td>
<td>倒V形</td>
</tr>
<tr>
<td>7</td>
<td>VShape</td>
<td>V形</td>
</tr>
<tr>
<td>8</td>
<td>Random</td>
<td>随机</td>
</tr>
</tbody>
</table>
<h2>攻击模式枚举值 (attackMode)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>模式名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>1</td>
<td>Suicide</td>
<td>自杀式</td>
</tr>
<tr>
<td>2</td>
<td>FixedPointDrop</td>
<td>定点抛投</td>
</tr>
<tr>
<td>3</td>
<td>CarpetDrop</td>
<td>地毯式抛投</td>
</tr>
</tbody>
</table>
<h2>攻击后行为枚举值 (attackAfterBehavior)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>行为名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>1</td>
<td>Lock</td>
<td>上锁</td>
</tr>
<tr>
<td>6</td>
<td>Return</td>
<td>返航</td>
</tr>
<tr>
<td>9</td>
<td>Land</td>
<td>降落</td>
</tr>
</tbody>
</table>
<h2>失连返航策略枚举值 (lostReturn)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>策略名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>Disabled</td>
<td>关闭失联返航</td>
</tr>
<tr>
<td>1</td>
<td>ReturnAllModes</td>
<td>所有模式都返航</td>
</tr>
<tr>
<td>2</td>
<td>ReturnExceptAuto</td>
<td>除自动模式外，其他模式都返航</td>
</tr>
</tbody>
</table>
<h2>低电量动作枚举值 (lowBatteryBehavior)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>动作名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>Disabled</td>
<td>关闭低压保护</td>
</tr>
<tr>
<td>1</td>
<td>Land</td>
<td>降落</td>
</tr>
<tr>
<td>2</td>
<td>Return</td>
<td>返航</td>
</tr>
</tbody>
</table>
<h2>吊舱切换类型枚举值 (podSwitchingType)</h2>
<table>
<thead>
<tr>
<th>值</th>
<th>类型名称</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>MANUAL_SWITCH</td>
<td>手动切换</td>
</tr>
<tr>
<td>1</td>
<td>AUTO_SWITCH</td>
<td>自动切换</td>
</tr>
</tbody>
</table>
<h2>数据异常说明</h2>
<h2>结构优化说明</h2>
<h3>2024年结构优化变更</h3>
<p><strong>变更内容</strong>：</p>
<ul>
<li>将原来的嵌套结构 <code>baseInfo</code> 和 <code>status</code> 合并为平铺结构</li>
<li>添加了 <code>hasBaseInfo</code> 和 <code>hasStatusInfo</code> 字段来标识数据有效性</li>
<li>简化了JSON结构，提高了数据访问效率</li>
<li><strong>统一属性命名</strong>：与单机DroneStatus保持一致的字段命名和说明</li>
</ul>
<p><strong>属性命名统一变更</strong>：</p>
<p><strong>整体状态字段</strong>：</p>
<ul>
<li><code>healthStatus</code> → <code>health_status</code> (健康状态)</li>
<li><code>controlObjectType</code> → <code>control_object_type</code> (控制对象类型)</li>
<li><code>selectedUavId</code> → <code>selected_uav_id</code> (选中无人机ID)</li>
<li><code>selectedTeamId</code> → <code>selected_team_id</code> (选中队伍ID)</li>
<li><code>podSwitchingType</code> → <code>pod_switching_type</code> (吊舱切换类型)</li>
<li><code>selectedPodId</code> → <code>selected_pod_id</code> (选中吊舱ID)</li>
</ul>
<p><strong>队伍信息字段</strong>：</p>
<ul>
<li><code>teamId</code> → <code>team_id</code> (队伍ID)</li>
</ul>
<p><strong>无人机信息字段</strong>：</p>
<ul>
<li><code>altitude</code> → <code>asl</code> (海拔高度)</li>
<li><code>relativeAlt</code> → <code>alt</code> (相对高度)</li>
<li><code>mode</code> → <code>flight_mode</code> (飞行模式)</li>
<li><code>groundSpeed</code> → <code>horizontal_speed</code> (水平速度)</li>
<li><code>verticalSpeed</code> → <code>vertical_speed</code> (垂直速度)</li>
<li><code>batteryPercentage</code> → <code>battery_remaining</code> (电池剩余百分比)</li>
<li><code>voltage</code> → <code>battery_voltage</code> (电池电压)</li>
<li><code>satcount</code> → <code>satellites_visible</code> (GPS卫星数)</li>
<li><code>linkQuality</code> → <code>signal_strength</code> (信号强度)</li>
<li><code>isArmed</code> → <code>armed</code> (是否已解锁)</li>
<li><code>isTakeoff</code> → <code>landed_state</code> (是否正在飞行)</li>
<li><code>isLeader</code> → <code>is_leader</code> (是否队长)</li>
<li><code>isOnline</code> → <code>is_online</code> (是否在线)</li>
<li><code>attitudeControlHealthy</code> → <code>attitude_control_healthy</code> (姿态控制健康)</li>
<li><code>attackMode</code> → <code>attack_mode</code> (攻击模式)</li>
<li><code>attackAfterBehavior</code> → <code>attack_after_behavior</code> (攻击后行为)</li>
<li><code>lostReturn</code> → <code>lost_return</code> (失连返航策略)</li>
<li><code>lowBatteryBehavior</code> → <code>low_battery_behavior</code> (低电量动作)</li>
<li><code>hasBaseInfo</code> → <code>has_base_info</code> (是否有基础信息)</li>
<li><code>hasStatusInfo</code> → <code>has_status_info</code> (是否有状态信息)</li>
</ul>
<p><strong>新增字段</strong>：</p>
<ul>
<li><code>home_latitude</code> (返航点纬度)</li>
<li><code>home_longitude</code> (返航点经度)</li>
</ul>
<p><strong>变更前</strong>：</p>
<pre><code class="language-json">{
&quot;baseInfo&quot;: { /* 基础信息 */ },
&quot;status&quot;: { /* 状态信息 */ },
&quot;isOnline&quot;: 1
}</code></pre>
<p><strong>变更后</strong>：</p>
<pre><code class="language-json">{
/* 所有字段平铺，与单机DroneStatus命名保持一致，使用下划线命名规则 */
&quot;sn&quot;: &quot;1&quot;,
&quot;latitude&quot;: 22.4115285,
&quot;asl&quot;: 0.07,
&quot;alt&quot;: 0.0,
&quot;team_id&quot;: 1,
&quot;flight_mode&quot;: 81,
&quot;is_leader&quot;: 0,
&quot;horizontal_speed&quot;: 0.0,
&quot;vertical_speed&quot;: 0.0,
&quot;battery_remaining&quot;: 0,
&quot;battery_voltage&quot;: 0.0,
&quot;satellites_visible&quot;: 0,
&quot;signal_strength&quot;: 0,
&quot;attitude_control_healthy&quot;: 1,
&quot;home_latitude&quot;: 0.0,
&quot;home_longitude&quot;: 0.0,
&quot;armed&quot;: false,
&quot;landed_state&quot;: false,
&quot;is_online&quot;: 1,
&quot;attack_mode&quot;: 1,
&quot;attack_after_behavior&quot;: 6,
&quot;lost_return&quot;: 1,
&quot;low_battery_behavior&quot;: 1,
&quot;has_base_info&quot;: true,
&quot;has_status_info&quot;: true
}</code></pre>