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Inspection Parameters (Flight Safety-Related Settings) Interface Description

Overview​

This document aims to provide a comprehensive list and explanation of flight safety-related parameters, covering aspects such as flight control, obstacle avoidance, and mission planning. It begins by detailing various parameters tied to flight safety, including but not limited to altitude, speed, and attitude control. Further, it highlights the enhancements made to MSDK (Autel Mobile SDK), presenting documentation on interfaces for flight control, obstacle avoidance, and mission tasks. Additionally, the document delves into obstacle avoidance performance and strategies, furnishing users with an in-depth understanding and application guide. By utilizing this document, users will gain full insight into flight safety parameters, master the correct application of MSDK interfaces, and deeply understand obstacle avoidance capabilities, thereby enhancing flight control and mission planning.

The interface is encapsulated and exposed via KeyManager, a class that provides methods for accessing request parameters from hardware modules and controlling their behavior. This includes setting and getting Key values, value listening, and action execution.

Keys/Values can be debugged for all Keys supported by KeyManager, with each Key defined for whether it supports setting, getting, listening, executing commands, or reporting.

Detailed Usage Instructions for Inspection Safety Flight Parameters​

KeyLowBatLowBack​

Function: Low Battery Return Home

Request Parameter: Boolean; false: disabled, true: enabled

Response: Get requests return a result identical to the request parameter.

Types: Supports Get, Set Note: Default value is true.

KeyLowBatLowBackInt​

Function: New Low Battery Return Home Interface.

Request Parameter:

  • Int type specifying behavior when battery is low.
    • 0: No action.
    • 1: Return home.
    • 2: Land in place.
    • 3: Continue mission.

Response: Returns the same as the request parameter on Get.

Types: Supports Get and Set operations.

Note:

  • Requires updating to SDK version 54.
  • Recommended to maintain default or set to corresponding "low battery setting."
  • Default value is 1.

KeyRCLostAction​

Function: Action Setting upon Radio Link Loss.

Request Parameter:

  • DroneLostActionEnum: Specifies aircraft behavior upon loss of radio link.
    • UNKNOWN(0): Unknown.
    • BACK(1): Return home.
    • HOVER(2): Hover in place.
    • LANDING(3): Land immediately.

Types: Supports Get and Set operations.

Note: Suggest using default or set to the corresponding action value.

  • Default value is BACK.

KeyMissionManagerBackHeight​

Function: Return-to-Home Height Setting/Retrieval.

Request Parameter:

  • float: Return-to-home height; default 100m.

Types: Supports Get, Set.

Note:

  1. Height for all automatic returns requiring vertical ascent.
  2. If current height is higher than RTH height, current height is used.
  3. Minimum value if RTH height is used is 2m.
  4. Setting to 99999 indicates no distance restriction.

KeyBatteryLowWarning​

Function: Low Battery Warning.

Request Parameter:

  • int: Threshold value for low battery percentage.
    • Default: 25
    • Range: [25; 50]

Types: Supports Get, Set.

Note:

  1. Sets the low battery threshold.
  2. Emergency actions are triggered below this level.
  3. App alerts drone to read/set low battery warning within range [25; 50].

KeyBatSeriousLowWarning​

Function: Critical Low Battery Warning.

Request Parameter:

  • int: Threshold for critically low battery percentage.
    • Default: 10
    • Range: [8; 25]

Types: Supports Get, Set.

Note:

  1. Sets emergency low battery threshold.
  2. Immediate action is landing on spot.
  3. Alerts drone to read/set critical low battery warning within range [8; 25].

KeyMaxRadius​

Sets or retrieves maximum flight radius in meters

Function: Distance Limit Setting to set or get the maximum flight radius of the aircraft.

Request Parameter: Float type. Default is 100000.0 meters.

Response: Supports Get and Set operations.

Type: Float.

Restrictions:

  1. Limits the drone's maximum operational distance.
  2. No specific data check before flight; routes exceeding 100km won't initiate takeoff.

Range: 30 meters to 9999 meters.

Note: Implemented by MissionManager with airframe business controller supporting forward compatibility. Setting max radius to 100000m disables the limit.

KeyMaxHeight​

Sets or retrieves maximum flight altitude in meters

Function: Altitude Limit Setting for setting or retrieving the maximum flight altitude.

Request Parameter: Float type; default is 800.0 meters.

Response: Supports Get and Set operations.

Type: Float.

Restrictions:

  1. Limits the drone's maximum operational altitude.
  2. Forward flight checks not conducted.

Range: 30 meters (99 feet) to 800 meters (2624 feet).

Note: Implemented by MissionManager with airframe business controller support for forward compatibility. Setting max height to 8000m disables the limit.

KeyEnableInterLowReturn​

Function: Smart Low Battery Return, Enable Switch.

Request Parameter: Boolean; true to check, false to ignore.

  • Default value: trueTypes: Supports Set and Get.
  1. Recommended to keep default.
  2. RTH power calculation involves distance and RTH height.

KeyObstacleAvoidance​

Global Obstacle Avoidance Switch

Function: Controls the switch for global obstacle avoidance (part of VisionKey).

Request Parameter: Boolean; true for obstacle avoidance on, false for off.

Types: Supports Set and Get operations.

Default Value: true (obstacle avoidance on)

Note:

  1. A hot parameter, affecting the current operation only, defaults back on restart.
  2. Applies to manual remote control, initial mission waypoint travel, and entire RTH except descent.
  3. Reduce speed during night operations or low light to avoid obstacles like wires.

KeyFcsApasModeEn​

Manual Obstacle Avoidance Strategy Switch

Function: Manual obstacle avoidance strategy switch.

Request Parameter: Boolean; true to bypass obstacles, false to hover on encounter.

Types: Supports Set and Get operations.

Default Value: false (hover on obstacle)

Notes:

  1. Applies under manual remote control.
  2. Defines drone reaction to obstacles in manual control.

KeyBackHSpeed​

Automatic RTH Horizontal Speed

Function: Controls the horizontal speed during return to home.

Request Parameter: Float type, indicating the maximum horizontal speed in meters per second (m/s).

Types: Supports Set, Get.

Default Value: 10.0 m/s

Notes:

  1. Used to set max horizontal speed for RTH.
  2. RTH ascent speed is not configurable, scenario-dependent.

KeyStartHorSpeed​

Speed to First Waypoint

Function: For setting the horizontal speed to the first waypoint.

Request Parameter: Float type, default is 10.0 meters/second.

Types: Supports Get, Set.

Notes:

  1. Maximum horizontal speed to the initial waypoint.
  2. Ascent and descent speeds to the first waypoint cannot be configured, scene-dependent.

KeyDroneRunningMode​

Aircraft Operation Mode Setting/Retrieval

Function: Controls the aircraft operating mode.

Request Parameter: Integer type, sets the operating mode where 0=manual RC mode, 1=Southern Grid Nest, 2=U-Aircraft Nest.

Types: Supports Set, Get.

Default Value: 2

Notes:

  1. Normal mode (0) suits general flight scenarios; U-Aircraft Nest mode (2) for fixed/mobile hangar use.
  2. Recommend U-Aircraft Nest mode (2) for hangar operations.

KeyMissionTakeoffHeight​

Grid Auto Mission Takeoff Height Setting

Function: For setting the takeoff height for grid automatic missions.

Request Parameter: Float type, within range [1.5, 800.0] meters, default is 25.0.

Types: Supports Set operation only, not Get.

Default Value: 25.0

Notes:

  1. Effective only during the automatic mission's takeoff phase.
  2. On boot, checks this height value; if previously set below 25m, resets to 25m; if above, retains previous value.

KeyDiagonalMoveEn​

Grid Patrol Flight Mode Setting (Waypoint Process) - Diagonal Flight Setting

Function Description: Used to set whether diagonal flight is allowed during grid patrol flight.

Request Parameter: Integer type. 0 indicates disabled, 1 indicates enabled.

Type: Supports Get, Set, and Retry operations.

Default Value: 1 (Enabled)

Notes:

  1. During diagonal flight, the flight speed is appropriately controlled based on the tilt angle. If the tilt angle exceeds 60°, the speed is limited to a maximum of 5m/s.
  2. If diagonal flight is not allowed, the principle of height priority is adopted. Height priority principle: When there is a height difference between two consecutive waypoints, if direct linear diagonal flight is not performed, then if the target waypoint has a lower height, horizontal movement occurs first followed by vertical descent. If the target waypoint has a higher height, vertical ascent occurs first, followed by horizontal movement.

KeyDroneWorkEnv​

Drone Working Scene Mode Setting

Function Description: Used to set the working scene mode of the drone.

Request Parameter: Integer type. 0 indicates normal mode, 1 indicates substation mode.

Type: Supports Get and Set operations.

Default Value: 0 (Normal Scene)

Notes:

  1. Currently, simple classification of scenes.
  2. The specific settings for the substation scene are as follows:
    • Automatic modification of route obstacle avoidance to precise route obstacle avoidance.
    • Route operation speed is limited to within 2m/s.
    • During automatic return to home, the ascent stage is always in precise obstacle avoidance mode.