# PASS 架構圖

## WINDOWS LAPTOP 架構

## STATUS 轉發 WEBSOCKET 時序圖

## json 轉mavlink時序圖

# SASS to PASS 請求事件
## 任務規劃流程範例 JSON（）
### 流程圖

### request body

{
  "drone_uuid": "e1b5e429-a24d-4588-bfe9-a923283e2993",
  "commands": [
    {
      "message_id": 73,
      "payload": {
        "1": 5,
        "2": 2,
        "5": 226272780,
        "6": 1202850990,
        "7": 10,
        "CommandName": "NAV_WAYPOINT",
        "command": 16
      }
    }
  ]
}

### response body success

{
    "status": "received_success",
    "message": "mission upload.",   
    "drone_uuid": "e1b5e429-a24d-4588-bfe9-a923283e2993"
}

### respones body fail

{
    "status": "received_fail",
    "CommandName": "NAV_WAYPOINT ...",
    "drone_uuid": "e1b5e429-a24d-4588-bfe9-a923283e2993",
    "message": "miss params 1 ..."    
}

# PASS to SASS 狀態事件

## 狀態流程json()

| 參數 | 名稱 | 單位 | 說明 |
| -------- | -------- | -------- | -------- |
| 1 | mission | bool | 是否執行任務 |
| 2 | flight_mode | string | 飛行模式 |
| 3 | battery | int32 |剩餘電量，單位(%)|
| 4 | lat | double | 緯度 |
| 5 | lon | double | 經度 |
| 6 | alt | double | 海拔高度，單位(m)|
| 7 | hdg | double | 機頭朝向0~359.99 |
| 8 | vx | double | x軸移動速度 |
| 9 | vy | double | y軸移動速度 |
| 10 | vz | double | 垂直移動入速度|
| 11 | roll | double | 機體左右傾斜角|
| 12 | pitch | double | 機體前後傾斜角|
| 13 | yaw | double | 機體朝向角 |
| 14 | arm | int32 | 解鎖時間 |
| 15 | mission_ack | string | 任務回覆狀態 |
| 16 | command_ack | string | 指令回覆狀態 |
| 17 | source_id | string | 無人機uuid |
### request body

 {
 "event": "send_to_message",
 "expect_response": true,
 "target_client_id": "e1b5e429-a24d-4588-bfe9-a923283e2993",
 "drone_uuid": "drone1",
 "message": {
    "alt": 3.46,
    "arm": 0,
    "battery": 0,
    "command_ack": "18:08:41 cmd:0 ack:MAV_RESULT_ACCEPTED",
    "flight_mode": "Auto",
    "hdg": 107.98,
    "lat": 23.4628168,
    "lon": 120.2669566,
    "mission": false,
    "mission_ack": "",
    "pitch": -0.0006779595278203487,
    "roll": -0.0013380491873249412,
    "vx": 0.01,
    "vy": 0.02,
    "vz": 0,
    "yaw": 1.8847218751907349,
       
       }
     }    

### response body