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Flight

Telemetry

note

Telemetry with enum type (i.e. flight modes, device states) is represented using a pair of topics :

/dji/<enum telemetry> : code number of the enum value.
/dji/<enum telemetry>/desc : description text of the enum value.

Topics ending with */desc are only indicative and intended for humans, not for programs. They are not documented below.

/dji/flight/aircraftState

Description	Aircraft’s current state.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `mode_code`
Values	`0` : Unknown `1` : Standby `2` : Preparing takeoff `3` : Takeoff prepared `4` : Manual flight `5` : Automatic takeoff `6` : Wayline flight `7` : Panorama flight `8` : Smart follow `9` : ADSB avoidance `10` : Automatic return `11` : Automatic landing `12` : Forced landing `13` : Emergency landing `14` : Upgrading firmware `15` : No connection `16` : Advanced pilot assistance system `17` : Virtual stick mode `18` : Live flight control `19` : Fixing RTK `20` : Home point selection `21` : POI flight

/dji/flight/aircraftState/reason

Description	Reason why aircraft’s has switched to current aircraftState.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `mode_code_reason`
Values	`0` : None `1` : Low battery power `2` : Low battery voltage `3` : Critical battery voltage `4` : Request from RC `5` : Request from App `6` : Radio signal lost `7` : Request from third-party `8` : Enter no-fly zone `9` : Too close from home point `10` : Too far from home point `11` : Executing wayline `12` : Above home point `13` : Approaching ground `14` : Low altitude limit protection overridden `15` : Aircraft passing around `16` : Fail to control altitude `17` : Critical battery power `18` : Advanced pilot mode engaged `19` : Hardware malfunction `20` : Touching Ground protecting disabled `21` : RTH canceled `22` : Blocked by obstacle `23` : High wind

/dji/flight/taskState

Description	Current flight task state.
Push	Every 2s
Type	`int`
DJI Bindings	Dock property `flighttask_step_code`
Values	`0` : Unknown `1` : Preparing task `2` : Executing task `3` : Recovering state `4` : Updating custom flight area `5` : Avoiding obstacle `6` : Idle

/dji/flight/controlSource

Description	Device currently in-control of the aircraft.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Dock property `control_source`
Values	`0` : Unknown `1` : Dock `2` : RC

/dji/flight/gear

Description	Current flight mode. Only relevant when controlled using the RC.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Dock property `gear`
Values	`0` : Unknown `1` : A `2` : P `3` : NAV `4` : FPV `5` : FARM `6` : S `7` : F `8` : M `9` : G `10` : T

/dji/flight/position

Description	Geographic position of the aircraft (i.e. latitude, longitude & altitude).
Push	Every 2s when aircraft is on
Type	`Position`
DJI Bindings	Aircraft properties `latitude`, `longitude` & `height`

/dji/flight/orientation

Description	Aircraft orientation wrt the NED frame expressed as Euler angles in degrees.
Push	Every 2s when aircraft is on
Type	`Orientation`
DJI Bindings	Aircraft properties `attitude_head`, `attitude_pitch` & `attitude_roll`

/dji/flight/distance

Description	Aircraft distance from the Dock in meters.
Push	Every 2s when aircraft is on
Type	`Distance`
DJI Bindings	Aircraft properties `home_distance` & `elevation`

/dji/flight/speed

Description	Aircraft speed.
Push	Every 2s when aircraft is on
Type	`Speed`
DJI Bindings	Aircraft properties `horizontal_speed` & `vertical_speed`

/dji/flight/home

Description	Geographic position of the home point (i.e. Dock or alternate landing site).
Push	Every 2s when aircraft is on
Type	`Position`
DJI Bindings	Aircraft properties `home_latitude` & `home_longitude`

/dji/flight/homeAlt

Description	Geographic position of the alternate landing site configured on the Dock.
Push	Every 2s when aircraft is on
Type	`Position`
DJI Bindings	Dock properties `alternate_land_point`

/dji/flight/distanceLimit/horizontal

Description	Aircraft’s maximum horizontal distance allowed from the Dock in meters.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `distance_limit_status.distance_limit`

/dji/flight/distanceLimit/horizontal/isNear

Description	True if aircraft is near the horizontal distance limit from Dock.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `distance_limit_status.is_near_distance_limit`

/dji/flight/distanceLimit/horizontal/isOn

Description	True if horizontal distance limit from Dock is enabled.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `distance_limit_status.state`

/dji/flight/distanceLimit/vertical

Description	Aircraft’s maximum vertical distance allowed from the Dock in meters.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `height_limit`

/dji/flight/distanceLimit/vertical/isNear

Description	True if aircraft is near the vertical distance limit from Dock.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `is_near_height_limit`

/dji/flight/flyToHeight/mode

Description	Current height mode for the fly-to command.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `current_commander_flight_mode`
Values	`0` : Unknown `1` : Optimal height `2` : Preset height

/dji/flight/flyToHeight/preset

Description	Configured flight height for the fly-to command. Relevant if height mode is set to "preset height".
Push	Every 2s when aircraft is on
Type	`float`
DJI Bindings	Aircraft property `commander_flight_height`

/dji/flight/rthHeight/mode

Description	Current height mode for the return-to-home command.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `current_rth_mode`
Values	`0` : Unknown `1` : Optimal height `2` : Preset height

/dji/flight/rthHeight/preset

Description	Configured flight height for the return-to-home command. Relevant if height mode is set to "preset height".
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `rth_altitude`

/dji/flight/rcLost/strategy

Description	Determines what to do when aircraft lose RC signal from the Dock.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `commander_mode_lost_action`
Values	`0` : Unknown `1` : Continue task `2` : Exit task & execute RC lost action

/dji/flight/rcLost/action

Description	Action to run when task exit due to RC signal loss.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `rc_lost_action`
Values	`0` : Unknown `1` : Hover `2` : Land `3` : RTH

/dji/flight/obstacleAvoidance/horizon/isOn

Description	True if horizontal obstacle avoidance is enabled.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `obstacle_avoidance.horizon`

/dji/flight/obstacleAvoidance/downside/isOn

Description	True if downside obstacle avoidance is enabled.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `obstacle_avoidance.downside`

/dji/flight/obstacleAvoidance/upside/isOn

Description	True if upside obstacle avoidance is enabled.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `obstacle_avoidance.upside`

/dji/flight/battery/flightTime

Description	Estimated flight time left before battery is empty in seconds.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `battery.remain_flight_time`

/dji/flight/battery/landingPower

Description	Battery power required to land now in percent.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `battery.landing_power`

/dji/flight/battery/rthPower

Description	Battery power required to return-to-home now in percent.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `battery.return_home_power`

/dji/flight/battery/totalPower

Description	Current battery power capacity in percent.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `battery.capacity_percent`

/dji/flight/battery/alertThreshold/low

Description	User-defined low battery alert threshold in percent. Can be configured from the RC.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `low_battery_warning_threshold`

/dji/flight/battery/alertThreshold/critical

Description	User-defined critical battery alert threshold in percent. Can be configured from the RC.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `serious_low_battery_warning_threshold`

/dji/flight/localization/quality

Description	Quality of the position estimate of the aircraft.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `position_state.quality`
Values	`0` : Unknown `1` : No position estimate `2` : Bad `3` : Limited `5` : Okay `5` : Good `6` : Excellent

/dji/flight/localization/gpsNum

Description	Number of GPS satellites visible by the aircraft.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `position_state.gps_number`

/dji/flight/localization/rtkNum

Description	Number of RTK satellites visible by the aircraft.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `position_state.rtk_number`

/dji/flight/localization/fixing

Description	Position fix state.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `position_state.is_fixed`
Values	`0` : Unknown `1` : Idle `2` : In progresse `3` : Fixed `4` : Failed

/dji/flight/radio/isConnected

Description	True if aircraft is connected to the dock radio.
Push	Every 2s
Type	`bool`
DJI Bindings	Dock property `wireless_link.sdr_link_state`

/dji/flight/radio/quality

Description	Quality of the radio link between the dock and the aircraft.
Push	Every 2s
Type	`int`
DJI Bindings	Dock property `wireless_link.sdr_quality`
Values	`0` : Unknown `1` : No signal `2` : Bad `3` : Limited `4` : Okay `5` : Good `6` : Excellent

/dji/flight/radio/band

Description	Frequency band of the radio link between the dock and the aircraft in GHz.
Push	Every 2s
Type	`float`
DJI Bindings	Dock property `wireless_link.sdr_freq_band`

/dji/flight/ridIsNormal

Description	True the Remote ID broadcast system if functioning as expected.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `rid_state`

/dji/flight/stats/activationTime

Description	First time the aircraft has been used in seconds since Epoch.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `activation_time`

/dji/flight/stats/count

Description	Number of flights performed by the aircraft since activation time.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `total_flight_sorties`

/dji/flight/stats/distance

Description	Distance flown by the aircraft since activation time in meters.
Push	Every 2s when aircraft is on
Type	`float`
DJI Bindings	Aircraft property `total_flight_sorties`

/dji/flight/stats/duration

Description	Accumulated flight time of aircraft since activation time in seconds.
Push	Every 2s when aircraft is on
Type	`int`
DJI Bindings	Aircraft property `total_flight_time`

/dji/flight/strobe/isOn

Description	True if aircraft strobe light is on.
Push	Every 2s when aircraft is on
Type	`bool`
DJI Bindings	Aircraft property `night_lights_state`

Schemas

Position

Key	Type	Description
latitude	`float`	Latitude in degrees.
longitude	`float`	Longitude in degrees.
altitude	`float`	Absolute altitude in meters.

Orientation

Key	Type	Description
yaw	`float`	Heading in degrees.
pitch	`float`	Pitch in degrees.
roll	`float`	Roll in degrees.

Distance

Key	Type	Description
horizontal	`float`	Distance in the horizontal plane.
vertical	`float`	Distance in the vertical plane.

Speed

Key	Type	Description
horizontal	`float`	Speed in the horizontal plane.
vertical	`float`	Speed in the vertical plane.

Telemetry
Schemas