Aircraft Heartbeat Information

1. Overview

The DragonFish heartbeat information is reported at a frequency of 2Hz. The heartbeat information contains alarm information, flight status related information, self-test status, and compass calibration information.

2. Aircraft Heartbeat Information Instructions

2.1 Monitoring Heartbeat Information

Interface definition:

val KeyDroneLfNtfy: AutelKey<DroneKeyInfoLFNtfyBean> = KeyTools.createKey(CommonKey.KeyDroneLfNtfy)

Example code:

val KeyDroneLfNtfy: AutelKey<DroneKeyInfoLFNtfyBean> = KeyTools.createKey(CommonKey.KeyDroneLfNtfy)

val CallBack = object : CommonCallbacks.KeyListener<DroneKeyInfoLFNtfyBean> {
      override fun onValueChange(oldValue: DroneKeyInfoLFNtfyBean?, newValue: DroneKeyInfoLFNtfyBean) {
          val heartBeanInfo = newValue.getDFHeartBeanInfo()
      }
}
//Start monitoring
DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()?.listen(key, CallBack)
//Cancel monitoring
DeviceManager.getDeviceManager().getFirstDroneDevice()?.getKeyManager()?.cancelListen(key, CallBack)

2.2 Heartbeat Interface Description

/**
 * DragonFish HeartBeat Information Manager
 */
object DFHeartBeatInfo {

    /**
     *  Resets the data to initial state
     */
    fun resetData()

    /**
     * Checks if the heartbeat data is invalid
     */
    fun isInValid(): Boolean

    /**
     * Gets the main flight status：Manual or Auto.
     */
    fun getMainFlyState(): MainFlyState {
        return MainFlyState.findEnum(this.alarmStatus2 and 0x0f)
    }

    /**
     * Gets the flight state
     */
    fun getFlightState(): FlightState

    /**
     * Gets the flight mode.
     */
    fun getFlyMode(): FlyMode 

    /**
     * Auto self-check status
     */
    fun getAutoCheckStatus(): AutoCheckStateEnum

    /**
     * Gets the status of all wings
     */
    fun getAllWingStatus(): AllWingStatus

    /**
     * Gets the battery warning status
     */
    fun getBatteryWarning(): BatteryWarning

    /**
     * Gets the compass calibration status
     */
    fun getCompassStatus(): DFCalibrateCompassStatus 

    /**
     * Checks if the attitude is abnormal
     */
    fun isAttitudeValid(): Boolean 

    /**
     * Checks if the compass status is valid based on the invalid head direction
     */
    fun isCompassValid(): Boolean 

    /**
     * Checks if the sonar is valid
     */
    fun isSonarValid(): Boolean {
        return ((this.alarmStatus1 shr 6 and 0x1) == 1)
    }

    /**
     *  Checks if the airspeed sensor is valid
     */
    fun isAirspeedValid(): Boolean

    /**
     * Checks if the GPS is valid
     */
    fun isGpsValid(): Boolean 

    /**
     * Checks if the RTK is abnormal
     */
    fun isRTKValid(): Boolean 

    /**
     * Checks if the RC is connected
     */
    fun isRcConnected(): Boolean 

    /**
     * Checks if the aircraft can take off
     */
    fun isCanTakeOff(): Boolean

    /**
     * Tells whether the aircraft reaches the max altitude.
     * */
    fun isReachMaxHeight(): Boolean 

    /**
     * Tells whether the aircraft reaches the max distance.
     */
    fun isReachMaxRange(): Boolean 

    /**
     * Checks if the flight control module is too hot
     */
    fun isFCHot(): Boolean 

    /**
     * Checks if the battery is too hot
     */
    fun isBatteryHot(): Boolean

    /**
     * Gets the airport warning error code
     */
    fun getAirportWarning(): AirportWarningEnum 

    /**
     * Checks if IMU0 is valid
     */
    fun isIMU0Valid(): Boolean 

    /**
     * Checks if IMU1 is valid
     */
    fun isIMU1Valid(): Boolean 

    /**
     * Checks if magnetometer0 is valid
     */
    fun isMagnetometer0Valid(): Boolean 

    /**
     * Checks if magnetometer1 is valid
     */
    fun isMagnetometer1Valid(): Boolean 

    /**
     * Checks if barometer0 is valid
     */
    fun isBarometer0Valid(): Boolean 

    /**
     * 气压计1是否有效
     * Checks if barometer1 is valid
     */
    fun isBarometer1Valid(): Boolean 

    /**
     * Checks if the elevator state communication is normal
     */
    fun isElevatorStateCommunicationNormal(): Boolean 

   
    /**
     * Checks if the firmware is activated
     */
    fun isFirmwareFlagActive(): Boolean 

    /**
     * Checks if the RTK heading is valid
     */
    fun isRtkHeadingValid(): Boolean 

    /**
     * Checks if the CPU temperature is normal
     */
    fun isCpuTemperatureNormal(): Boolean 
    
    /**
     * Checks if the FMU board temperature is normal
     */
    fun isFmuBoardTemperatureNormal(): Boolean 

    /**
     * Checks if the antenna1 is connected
     */
    fun isAntenna1Connected(): Boolean 

    /**
     * Checks if the antenna2 is connected
     */
    fun isAntenna2Connected(): Boolean 

    /**    
     * Checks if the antenna1 is normal
     */
    fun isAntenna1Normal(): Boolean 

    /**   
     * Checks if the antenna2 is normal
     */
    fun isAntenna2Normal(): Boolean 

    /**
     * Checks if the FMU SD card is normal
     */
    fun isFmuSdcardNormal(): Boolean 

    /**
     * Checks if the USB debug port is normal
     */
    fun isUsbDebugNormal(): Boolean 

    /**
     * Checks if the FMU fan is normal
     */
    fun isFmuFanNormal(): Boolean 

    /**
     * Checks if the need to pop up the self-check box
     */
    fun isNeedChecking(): Boolean 

    /**
     * Flight controller firmware version mismatch
     **/
    fun isModelMatch(): Boolean 

    /** 
     * Checks if the left wing is normal
     */
    fun isLeftWingNormal(): Boolean

    /**
     * 右侧机翼是否正常 
     * Checks if the right wing is normal
     */
    fun isRightWingNormal(): Boolean 

    /**
     * Checks if the forward sensing system (radar) is normal
     */
    fun isForwardSensingSystemNormal(): Boolean 

    /**
     * Checks if the RTK communication is normal
     * */
    fun isRTKCommunicationNormal(): Boolean 

    /** 
     * GPS通讯是否正常
     * Checks if the GPS communication is normal
     * */
    fun isGpsCommunicationNormal(): Boolean 
    
    /**
     * Checks if actuator communication is normal
     **/ 
    fun isActuatorCommunicationNormal(): Boolean 

    /**
     * Checks if navigation attitude is normal
     */
    fun isNavigationAttitudeNormal(): Boolean 

    /**
     * Fixed-wing automatic flight altitude is too low
     */
    fun isFixedWingLowHeight(): Boolean 

    /**
     * Checks if elevator state is normal
     */
    fun isElevatorStateNormal(): Boolean

    /**
     *  Checks if motor ESC state is normal
     */
    fun isEscStateNormal(): Boolean 

    /**
     * Checks if mobile base station RTK information is valid (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKValid(): Boolean 

    /**
     * Checks if mobile base station RTK Heading2 information is valid (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKHeadingTwoValid(): Boolean 

    /**
     * Checks if mobile base station RTK Heading information is valid (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKHeadingValid(): Boolean

    /**
     * Checks if mobile base station RTK position information is valid (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKPositionValid(): Boolean
    
    /**
     *  Checks if mobile base station RTK speed information is valid (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKSpeedValid(): Boolean 
    
    /**
     * Checks if mobile base station RTK attitude information is normal (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isBaseStationRTKAttitudeNormal(): Boolean

    /**
     * Checks if mobile return home point information is normal (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isMoveHomePositionNormal(): Boolean 

    /**
     * Checks if the mobile return home point precision is normal (available when using mobile base station mode, StationType = StationType.MDBS)
     */
    fun isMoveHomePrecisionNormal(): Boolean 

    /**
     * Checks if the need to synchronize electronic fence information
     */
    fun isNeedUploadGenFence(): Boolean 

    /**
     * Checks if the current is controlled by the main device or the slave device
     */
    fun isMainDevice(): Boolean 
    /**
     * Checks if the current is in the restricted country no-fly zone
     */
    fun isInRestrictedCountryNoFlyZone(): Boolean 

    /**
     * Low battery return home prompt flag
     */
    fun isLowBatteryReturnHomePromptFlag(): Boolean 

    /**
     * Serious low battery landing flag
     */
    fun isLowBatteryLandFlag(): Boolean 

    /**
     * Navigation position information
     */
    fun isNavigationPositionNormal(): Boolean 

    /**
     * Checks if the magnetic heading and RTK heading are consistent
     */
    fun isNavigationAndRTKNormal(): Boolean 

    /**
     * 磁力计通讯是否正常
     * Checks if the magnetometer communication is normal
     */
    fun isMagnetometerCommunicationNormal(): Boolean 

    /**
     * Checks if the magnetometer parameter update failed
     */
    fun isMagnetometerParameterFailed(): Boolean

    /**
     * Checks if the target is in the attack range based on flightMode
     */
    fun isTargetATTKRange(): Boolean 

    /**
     * Checks if the left wing power model matches the body
     */
    fun isLeftWingPowerModelMatch(): Boolean 

    /**
     * Checks if the right wing power model matches the body
     */
    fun isRightWingPowerModelMatch(): Boolean 

    /**  
     * Vision system validity
     */
    fun isVisualValid(): Boolean 
}